Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical...
Transcript of Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical...
![Page 1: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/1.jpg)
1© 2015 The MathWorks, Inc.
Modeling and Simulation of
Physical Systems with Simscape
Paul Lambrechts
Tadele Shiferaw Tadele
![Page 2: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/2.jpg)
2
Modeling and Simulation of Physical Systems with Simscape
▪ What’s physical modeling and why should I care?
▪ Working with a multi-domain physical model in Simscape
– An electrically driven triplex plunger pump for a predictive maintenance study
▪ Extending the model to explore a new design element
– Adding a battery model to the design
▪ Key take-aways of the session
![Page 3: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/3.jpg)
3
Physical Modeling with Simscape is easy and accurate!
Use CAD import to
obtain visualization
and parameters
Extend and explore
to create a multi-
domain “digital twin”
Battery Ah
Add new components
to investigate
innovative design
![Page 4: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/4.jpg)
4
▪ Why Physical Modeling?
▪ Why in Simulink/Simscape?
The Big Question?
Why
![Page 5: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/5.jpg)
5
The CAT Triplex Plunger Pump
Maintenance?NoPredictive
![Page 6: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/6.jpg)
6
Pressure transducer is available
I need help. One of my cylinders
is leaking. I will shut down in 15
hours
![Page 7: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/7.jpg)
7
Component
Failure
Triplex Pump
▪ Crankshaft drives three plungers
– Each 120 degrees out of phase
– One chamber always discharging
– Smoother flow than single
or duplex piston pumps
Crankshaft
Inlet
Outlet
Algorithm
Pressure
Sensor
Failure
Diagnosis
![Page 8: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/8.jpg)
8
![Page 9: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/9.jpg)
9
Introduction to Simscape Multibody
▪ Enables multibody simulation
of 3D mechanical systems
▪ Construct model using
bodies, joints, and forces
– Model matches structure of system
– No need to derive and program equations
▪ Primary uses
– System-level analysis
– Control development in Simulink
– Predictive Maintenance study
![Page 10: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/10.jpg)
10
Modeling Dynamic Systems:
two approaches
First-Principles Modeling
Use an understanding of the
system’s physics to derive a
mathematical representation
--
--------+-=
)(sin1
)cos()cos())sin(()sin())sin(()sin(2
22
22
ga
ggaagagaggaaa
ne
nnenwL &&& dg
![Page 11: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/11.jpg)
11
First-Principles Modeling Data-Driven Modeling
Use system test data to derive a
mathematical representation
++
+
++
+
=
1
3
23
1
)(
2
2
23
ss
s
ss
s
sH
Use an understanding of the
system’s physics to derive a
mathematical representation
Modeling Dynamic Systems:
two approaches
![Page 12: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/12.jpg)
12
Both have Advantages & Disadvantages
First-Principles Modeling Data-Driven Modeling
Advantages:▪ Insight in behavior
▪ Physical parameters
Disadvantages:▪ Friction and turbulence?
▪ Time consuming
▪ Requires expertise
Advantages:▪ Fast
▪ Accurate
Disadvantages:▪ Requires plant
▪ Requires data acquisition system
![Page 13: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/13.jpg)
13
Tools that span both modeling approachesEnhance Advantages, Reduce Disadvantages
Complete Modeling Environment
Test & Measurement
Tools
SimulinkDesign
Optimization
Simulink
First-Principles
SystemIdentification
Data-Driven
Simscape
Partial Differential Equation (FEM)
Symbolic Math
Machine Learning
![Page 14: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/14.jpg)
14
Tools that span both modeling approachesEnhance Advantages, Reduce Disadvantages
Complete Modeling Environment
Simulink
First-Principles Data-Driven
![Page 15: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/15.jpg)
15
▪Traditional process
▪ Using Simscape
Plant
Actu
ato
rs
Physical
System
Sensors
Build model by
combining components
Set up differential
and algebraic equationsPlant
Actu
ato
rsPhysical
System
Sensors
∫∫
First-Principles Modeling in Simulink
![Page 16: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/16.jpg)
16MATLAB
Simulink
Simscape
Goal of Simscape
▪ As easy to use as Simulink; but easier to use for creating a model of a physical system
![Page 17: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/17.jpg)
17
Simscape:
modeling in multiple domains
▪ Use Fundamental
Analogy between
Physical Domains
Domain Across Variable Through Variable
MechanicalVelocity
Angular Velocity
Force
Torque
Hydraulic Pressure Flow Rate
Electrical Voltage Current
Magnetic MMF Flux
Thermal Temperature Heat Flow
Thermal FluidsPressure
Temperature
Mass Flow Rate
Energy Flow
![Page 18: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/18.jpg)
18
How things are measured
![Page 19: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/19.jpg)
19
Tools that span both modeling approachesEnhance Advantages, Reduce Disadvantages
Complete Modeling Environment
Simulink
First-Principles Data-Driven
Language
![Page 20: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/20.jpg)
20
Simscape Language
▪ MATLAB-based
▪ Create new domains
▪ Custom components
▪ User defined libraries
▪ Object oriented
d
ccv
R
v
dt
dvvCCi ++= )( 0
iRvv c +=
![Page 21: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/21.jpg)
21
▪ Syntax closely follows MATLAB language
▪ Use MATLAB functions and expressions
– Analyze parameters
– Perform preliminary computations
– Initialize system variables
Simscape Language: setup
![Page 22: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/22.jpg)
22
▪ Define the physical network ports
▪ Reuse existing physical domains
to extend an existing library
▪ Define new physical domains
to create a new library
Simscape Language: nodes
![Page 23: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/23.jpg)
23
▪ Parameters, default
values, units, and dialog
box text all defined in the
Simscape file (extension
.ssc)
Simscape Language: parameters
![Page 24: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/24.jpg)
24
▪ Equations defined
implicitly means no pre-
defined inputs and
outputs
Simscape Language: equation
d
c
vR
v
dt
dvvCCi ++= )( 0
iRvv c +=
![Page 25: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/25.jpg)
25
Modeling and Simulation of Physical Systems with Simscape
▪ What’s physical modeling and why should I care?
▪ Working with a multi-domain physical model in Simscape
– An electrically driven triplex plunger pump for a predictive maintenance study
▪ Extending the model to explore a new design element
– Adding a battery model to the design
▪ Key take-aways of the session
Battery Ah
![Page 26: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/26.jpg)
26
![Page 27: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/27.jpg)
27
Battery Management System
▪ BMS is necessary
– Safety
– Performance
– Durability
![Page 28: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/28.jpg)
28
Battery Management System
▪ BMS includes
– Monitoring :
▪ State of Charge (SoC)
▪ State of Health (SoH)
– Control:
▪ Charging
▪ Temperature
▪ Current
![Page 29: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/29.jpg)
29
Competent Battery Model
▪ Battery Modeling
– Equivalent Circuit Model
– Parameter Estimation
control
![Page 30: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/30.jpg)
30
Battery Management System
▪ Charging Control:
– CCCV Charging method
– Cell Balancing Ensure all cells have equivalent SoC during charging.
![Page 31: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/31.jpg)
31
Physical Modeling with Simscape is easy and accurate!
Use CAD import to
obtain visualization
and parameters
Extend and explore
to create a multi-
domain “digital twin”
Battery Ah
Add new components
to investigate
innovative design
![Page 32: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/32.jpg)
32
Physical Modeling Training
Public
On-Site
ExhibitionMathWorks Training Booth
▪ Simscape
▪ Multibody
▪ Fluids
▪ Electrical Power
▪ Driveline
![Page 33: Modeling and Simulation of Physical Systems with Simscape · 2 Modeling and Simulation of Physical Systems with Simscape What’s physical modeling and why should I care? Working](https://reader033.fdocuments.us/reader033/viewer/2022050522/5fa5c4e250a94a4e05195edb/html5/thumbnails/33.jpg)
33
▪ More support
▪ Visit www.mathworks.com
▪ Info: [email protected]
▪ Triplex Pump Case Study available on
https://www.mathworks.com/matlabcentral/fileexchange/65605-predictive-maintenance-in-hydraulic-pump
Thank you for attending…