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Modeling and Simulation of Physical Systems in a Mechatronic Context
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.). (Mechatronics lab)
2009 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

This thesis gives different views on the modeling and simulation of physical systems, especially together with embedded systems, forming mechatronic systems. The main considered application domain is automotive. One motivation behind the work is to find suitable representations of physical systems to be used in an architectural description language for automotive embedded systems, EAST-ADL2, which is implemented as a UML2 profile, and uses concepts from both UML and SysML. As a part of the thesis, several languages and tools are investigated, including bond graphs, MATLAB/Simulink, Ptolemy II, Modelica, MATLAB/Simscape and SysML. For SysML, the modeling of continuous-time systems and how it relates to MATLAB/Simulink and Modelica is evaluated. A case study of an electric power assisted steering is modeled to show the differences, the similarities and the usage of the above mentioned languages and tools. To be able to classify the tools and languages, five realization levels were developed:

  • Physical modeling models
  • Constraint models
  • Continuous causal models
  • Discretized models
  • Discretized models with solver and platform implementation

By using these realization levels, models, tools and modeling languages can be classified, and transformations between them can be set up and analyzed. As a result, a method to describe the simulation behavior of a MATLAB/Simulink model has been developed using SysML activity diagrams as an approach to achieve integrated system models. Another result is an evaluation of the parametric diagrams of SysML for continuous-time modeling, which shows that they do not enable “physical modeling”, i.e. modeling the topology of the system and getting the underlying equations out of this topology. By including physical ports and physical connectors to SysML internal block diagrams, this could be solved. The comparison also shows many similarities between the languages. The results led to a more detailed investigation on conjugate variables, such as force and velocity, and electric current and voltage, and how these are treated in various languages. The thesis also includes two industrial case studies: one of a twin-screw compressor, and one of a simulation environment for automotive fuel-cell systems. Conclusions are drawn from these models, referring to the realization levels.

Place, publisher, year, edition, pages
Stockholm: KTH , 2009. , ix, 85 p.
Series
Trita-MMK, ISSN 1400-1179 ; 2009:12
Keyword [en]
mechatronics, MATLAB/Simulink, SysML, bond graphs, Modelica, Simscape, simulation, modeling, EAST-ADL2, physical modeling
Identifiers
URN: urn:nbn:se:kth:diva-10522ISBN: 978-91-7415-361-3 (print)OAI: oai:DiVA.org:kth-10522DiVA: diva2:218737
Public defence
2009-06-09, KTHB, Salongen, Osquars Backe 31, Stockholm, 13:00 (English)
Opponent
Supervisors
Note
QC 20100810Available from: 2009-06-03 Created: 2009-05-20 Last updated: 2010-08-10Bibliographically approved
List of papers
1. Modelling of displacement compressors using MATLAB/Simulink software
Open this publication in new window or tab >>Modelling of displacement compressors using MATLAB/Simulink software
2004 (English)In: Proceedings of norddesign 2004 - product development in changing environment, TAMPERE: TAMPERE UNIV TECH PRODUCT DEVELOPMENT LABORATORY , 2004, 192-200 p.Conference paper, Published paper (Refereed)
Abstract [en]

Model based development is increasingly used to minimise costly and time consuming testing of physical prototypes during product development. Modelling and concept evaluation by using computer models for performance prediction will then be a substantial part of the PD process synthesis-analysis loop. However, easy-to-use and flexible methods have to be used for modelling, especially during product concept development, to avoid traditional coding and debugging. In this case, a twin-screw compressor has been modelled using the visual programming language MATLAB/Simulink. One of the objectives was to investigate whether it was feasible and appropriate to use MATLAB/Simulink for such a complex task. New developed methods have been used for this. The main difficulty turned out to be how to create a queue-like environment for the chambers. This problem was eventually solved, but it shows how MATLAB/Simulink can be cumbersome to use when dealing with complex problems.

Place, publisher, year, edition, pages
TAMPERE: TAMPERE UNIV TECH PRODUCT DEVELOPMENT LABORATORY, 2004
Keyword
twin-screw compressor, simulation, visual programming, MATLAB/Simulink
National Category
Reliability and Maintenance
Identifiers
urn:nbn:se:kth:diva-19441 (URN)000252984000020 ()978-952-15-1227-8 (ISBN)
Conference
5th Biannual NordDesign 2004 Conference Tampere Univ Technol, Tampere, FINLAND, AUG 18-20, 2004
Note
QC 20100810Available from: 2010-08-10 Created: 2010-08-10 Last updated: 2011-11-02Bibliographically approved
2. Virtual Component Testing for PEM Fuel Cell Systems:An Efficient, High-Quality and Safe Approach forSuppliers and OEM´s
Open this publication in new window or tab >>Virtual Component Testing for PEM Fuel Cell Systems:An Efficient, High-Quality and Safe Approach forSuppliers and OEM´s
2005 (English)In: 3rd European PEFC Forum, Session B09, 7July, 09:15h, File No. B092, 2005, 103-120 p.Conference paper, Published paper (Refereed)
Abstract [en]

The successful introduction of fuel cell systems for future generation automotiveapplications will significantly depend on the development and realization of reliable lowcost components, which have to be highly integrated in the fuel cell system.Hence, in the course of the project NFCCPP (Numerical Fuel Cell ComponentPerformance Prediction tool) funded by the European Union, a simulation environment hasbeen worked out and a modular component tool box created, which allows the – virtual –testing of components of fuel cell systems in a highly realistic, most advanced and precise,but nevertheless confidential simulation environment. Confidentiality – in fact modelprotection - enables the combination of best state of the art simulation modules fromdifferent partners in an overall system simulation model without having access toconfidential information and data of other individual components. Even competitors cantest their components together in such an environment. Moreover, this approach enablesinvestigations based on overall system simulations (or a fixed set thereof), which have theadvantage of providing a sound reference for comparing results.

National Category
Reliability and Maintenance
Identifiers
urn:nbn:se:kth:diva-19444 (URN)
Conference
3rd European PEFC Forum
Note

QC 20100810

Available from: 2010-08-10 Created: 2010-08-10 Last updated: 2017-11-16Bibliographically approved
3. Developing Dependable Automotive Embedded Systemsusing the EAST-ADL; representing continuous timesystems in SysML
Open this publication in new window or tab >>Developing Dependable Automotive Embedded Systemsusing the EAST-ADL; representing continuous timesystems in SysML
Show others...
2007 (English)In: EOOLT 2007 - Proceedings of the 1st International Workshop on Equation-Based Object-Oriented Languages and Tools, In Conjunction with ECOOP 2007, 2007, 25-36 p.Conference paper, Published paper (Refereed)
Abstract [en]

The architectural description language for automotive embedded systems EAST-ADL is presented in this paper. The aim of the EAST-ADL language is to provide a comprehensive systems modeling approach as a means to keep the engineering information within one structure. This facilitatessystems integration and enables consistent systems analysis. The EAST-ADL encompasses structural information at different abstraction levels, requirements and variability modeling. The EAST-ADL is implemented as a UML2 profileand is harmonized with AUTOSAR and a subset of SysML. Currently, differentways to model behavior natively in the language are investigated. An approachfor using SysML parametric diagrams to describe equations in composed physical systems is proposed. An example system is modeled and discussed. Itis highlighted that parametric diagrams lacks support for separation between effort and flow variables, and why this separation would be desired in order tomodel composed physical systems. An alternative approach by use of SysML activity diagrams is also discussed.

Keyword
EAST-ADL, automotive embedded systems, UML, SysML, parametric diagrams, physical modeling, continuous systems, Modelica
National Category
Embedded Systems
Identifiers
urn:nbn:se:kth:diva-19447 (URN)2-s2.0-84873470783 (Scopus ID)
Conference
1st International Workshop on Equation-Based Object-Oriented Languages and Tools, EOOLT 2007 - In Conjunction with the ECOOP 2007 Conference; Berlin; Germany; 30 July 2007 through 30 July 2007;
Projects
ATESST
Note

QC 20150713

Available from: 2010-08-10 Created: 2010-08-10 Last updated: 2017-11-16Bibliographically approved
4. Mapping Simulink to UML in the design of embedded systems:Investigating scenarios and transformations
Open this publication in new window or tab >>Mapping Simulink to UML in the design of embedded systems:Investigating scenarios and transformations
Show others...
2008 (English)In: OMER4 Post-proceedings, 2008, 2008, 137-160 p.Conference paper, Published paper (Refereed)
Abstract [en]

The multidisciplinary nature of advanced embedded systems requires a combined usage of several tools and modeling languages in systems development.We investigate the needs and some of the possibilities of combined usage of Simulink and UML.Structural and behavioral mappings are explored focusing on continuous-time and discrete-time models.A procedure for transforming Simulink models to UML composite structure and activity models is presented. Our proposed behavioral transformationmaps behavior of the Simulink model as well as the MATLAB/Simulink simulation engine and provides an explicit simulation level behavior representation in the form of UML activity diagrams. The transformation has been partially implemented using the Atlas Transformation Language.

National Category
Reliability and Maintenance
Identifiers
urn:nbn:se:kth:diva-19450 (URN)
Conference
the 4th Workshop on Objectoriented Modeling of Embedded Real-Time Systems (OMER 4)
Note

QC 20100810

Available from: 2010-08-10 Created: 2010-08-10 Last updated: 2017-11-16Bibliographically approved

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