Design of Mechatronic Design of Mechatronic Systems using SAMTECH Systems using SAMTECH

software platformsoftware platform

Didier GRANVILLECMO, SAMTECH s.a.

Didier.Granville@samcef.com

Examples of mechanical systems Examples of mechanical systems simulated by SAMTECHsimulated by SAMTECH

2 Mechanical Design

4 Mechatronic Simulation

Optimal Mechatronic System

3 Control Design

1 Specifications

Mechatronic Design Functional Scheme Mechatronic Design Functional Scheme (Definition of Mechatronics for SAMTECH)(Definition of Mechatronics for SAMTECH)

Finite elements and S.E.

Flexible kinematical joints

Rigid kinematical joints,

Sensors and Actuators

Mechatronic Compiler using SAMCEF Mechatronic Compiler using SAMCEF Mecano and MATLAB SimulinkMecano and MATLAB Simulink

Digital Control

• CAD Geometry defined in SAMCEF Field or recovered from CAD through STEP exchange

• Super-Elements to manage large meshes

Y guides SAMCEF Mecano assembly

conditions (rigid bodies, rigid kinematical joints and flexible sliders) to connect moving flexible bodies

Machine Tool ModelMachine Tool Model(Agile transfer line, COMAU, MECOMAT)(Agile transfer line, COMAU, MECOMAT)

Machine Tool Mechanical elements Machine Tool Mechanical elements Transmission modelsTransmission models

ball screw

guideways & rack and pinion

linear motor

- rack : 선반 or ( 톱니바퀴의 ) 래크

- pinion : 톱니바퀴

MATLAB Simulink controller model

SAMCEF Mecano FEA model

Mechatronic Compiler applied to Mechatronic Compiler applied to Machine ToolMachine Tool

Position, Velocity, Acceleration, Force

Position Velocity, Acceleration

• CAD Geometry defined in SAMCEF Field or recovered from CAD through STEP exchange

Assembly conditions

Super-elements to manage large meshes

Machine Tool Model (3EX-R Rotor Milling Machine Tool Model (3EX-R Rotor Milling Machine, HOLROYD, MECOMAT)Machine, HOLROYD, MECOMAT)

• Linear motors implemented in the generic non linear force element of SAMCEF Mecano

• Digital controllers acting on axes modeled in MATLAB Simulink and integrated in SAMCEF Mecano

• Comparison between numerical results and experiments :

• Less than 8 % of error on the speed and the precision of execution

High Speed Machine (CETIM)High Speed Machine (CETIM)

Mechanical design using SAMCEF• Mecano : Time response of Mechanisms + Structure• Dynam : Modal analysis + Super-element creation• Asef : Linear static analysis• Repdyn : Harmonic response

Control design using MATLAB Simulink Integration of Mechanical design (mechanisms +

structure) and controller design : import of MATLAB Simulink controller inside SAMCEF Mecano

Optimization of parameterized mechatronic systems using BOSS quattro

Design of Mechatronic Systems using Design of Mechatronic Systems using SAMTECH software platformSAMTECH software platform

SAMTECH is developing an industrial integrated software environment for the analysis and the optimization of mechatronic systems

Mechatronic approach : the design of the mechanisms, the structure and of the control system is performed at the same time

First industrial application : Machine Tools Possible future applications to other mechanical

sectors (Aeronautics, Space, Defense, Automotive, Textile machines, Robotics, …)

Digital modeling of controllers at the moment Next step : analogical modeling of controllers

Conclusions and PerspectivesConclusions and Perspectives