SimHydraulics Model and simulate hydraulic systems Pravesh Sanghvi Technical Marketing, Physical Modeling MathWorks http://www.mathworks.com/physical-modeling/

Computational Time vs. Model Complexity Key Points Provides hydraulic component models for fluid power and fluid supply systems Configure your model to balance model fidelity and simulation speed Tune parameters to match measured data with MATLAB Test using HIL instead of hardware prototypes Computational Time Detail Computational Time vs. Model Complexity Configure Model Generate C Code Real-Time Hardware

Agenda Modeling Physical Systems Model and simulate Hydraulic Systems with SimHydraulics Actuation system Fuel Supply system Custom Valves Custom Components using Simscape language Thermal Liquid system Battery Cooling system Automatically tune component parameters Code generation from Simscape and SimHydraulics models

Value of Physical System Models Deepwater Horizon explosion 04/10 High Pressure methane gas expanded into drilling rig and ignited http://en.wikipedia.org/wiki/Deepwater_Horizon_explosion high-pressure methane gas from the well expanded into the drilling riser and rose into the drilling rig, where it ignited and exploded, engulfing the platform An oil leak was discovered on the afternoon of 22 April 2010 when a large oil slick began to spread at the former rig site. A mechanical failure sent a JetBlue plane like this one careening wildly through the skies, sparking panic among the 155 people aboard the Las Vegas to New York flight, passengers told The Post yesterday. JetBlue’s ‘4 hours of hell’ 06/12 Double Hydraulic Failure Causes Extended Anxiety, Emergency Landing In Vegas http://newyork.cbslocal.com/2012/06/20/passengers-describe-jetblue-flight-from-vegas-to-n-y-as-four-hours-of-hell/

Develop Complex Multidomain Systems Inputs and outputs Software components Physical connections Simultaneous equations Physical Hardware A B P T PID + - S1 S2 S3 if (..) x = … else x = Software & Algorithms Use the right language for the right task Use Model-Based Design on the entire system

Physical Modeling Within Simulink Simulink is best known for signal-based modeling Causal, or input/output Simscape enables bidirectional flow of power between components System level equations: Formulated automatically Solved simultaneously Cover multiple domains Simulink: Input/Output Simscape: Physical Networks

Physical Systems in Simulink SimMechanics SimDriveline SimHydraulics SimElectronics SimPowerSystems Simscape MATLAB, Simulink Simscape Mechanical Hydraulic Electrical Thermal Liquid Custom Domains via Simscape Language Pneumatic Magnetic N S SimPowerSystems SimHydraulics Multidomain physical systems Electrical power systems Fluid power and control SimMechanics SimDriveline SimElectronics Multibody mechanics (3-D) Mechanical systems (1-D) Electromechanical and electronic systems

MathWorks Investment in Physical Modeling Thermal Liquid In Simscape Magnetics In Simscape 15+ years of physical modeling Rapid progress since Simscape released (2007) Pneumatics In Simscape Simscape Language SimElectronics Thermal effects optional ports Simscape Local Solver Simscape Logging Zero Crossing Stats Model Statistics Viewer SimHydraulics SimDriveline Simscape-Based Library (2G) SimMechanics SolidWorks Translator ProEngineer Translator Autodesk Translator Simscape-Based Library (2G) SimPowerSystems Electric Drives Library Ideal Switching Algorithm Intf. Elements Editing Mode Simscape-Based Library (3G) 1998 2000 2002 2004 2006 2008 2010 2012 2014 2016

Agenda Modeling Physical Systems Model and simulate Hydraulic Systems with SimHydraulics Actuation system Fuel Supply system Custom Valves Custom Components using Simscape language Thermal Liquid system Battery Cooling system Automatically tune component parameters Code generation from Simscape and SimHydraulics models

SimHydraulics Introduction Enables physical modeling (acausal) of hydraulic systems Models look like hydraulic schematic Create models of custom components Create reusable models Extend with Simscape language Set parameters easily Choose parameterization option Optimize the entire system Simulate the controller and plant together in the Simulink environment Enables efficient modeling of hydraulic power and control systems in Simulink, which enables a common environment for controller and plant. This supports Model-Based Design by enabling a more useful and elaborate executable specification. Key Features It employs the hydraulic circuit schematic language for model description in accordance with the ISO 1219 fluid power standard. This schematic language is well-adopted among the community of hydraulic engineers, so its use through SimHydraulics provides this community access to understanding and contributing to a simulation model in Simulink. The standard components library includes component blocks for most of the standard designs for pumps, valves, cylinders, accumulators, and motors. This library enables rapid creation of hydraulic system models. The hydraulic and mechanical building blocks include models for flow through orifices, fluid inertia, mechanical rigid inertia, spring and damping, and many more basics of hydraulics and mechanics. Most hydraulic components can be described in terms of these basics in a way that reveals a principal set of physical parameters for describing the component. This group of building blocks, therefore, provides the means for extending your library set to include the new or exotic components that you use, but which are not contained in the standard component library, yet. Sensor and source blocks generate and receive Simulink signals. They enable the measurement and assignment of hydraulic pressure and flow at any point in the circuit, and for mechanical force, torque, velocity, etc. The ability to sense and source the hydraulic and mechanical states of the system enables the communication between the controller and plant models. From the plant modeling perspective, it broadens the approach to employ a combination of behavioral, data-driven and physical modeling techniques. The broader approach accommodates more effectively an optimization of accuracy, solution speed, and creation effort for the entire system model. The hydraulic fluids library block comes stocked with 18 fluids, which describes the functional dependence of the fluid properties on temperature and entrapped air.

Hydraulic Actuation System Model: M Problem: Model a hydraulic actuation system within the Simulink environment Solution: Use SimHydraulics to model the hydraulic system

Modeling a Fuel Supply System Fuel Lines Left Wing Tank Right Wing Pumps Engine Empasize Different elevation.... Problem: Evaluate the fuel supply system under different scenarios, including pressure drops due to elevation in the fuel lines Solution: Use SimHydraulics to model the supply system

Balancing Fidelity and Simulation Speed Key to effective use of simulation Capture only the effects you need Configure the model for your task MathWorks products enable you to select the right level of detail for your task Computational Time Model Complexity & Detail Computational Time vs. Model Complexity Nonlinear Effects Spool Dynamics PWM Driver Ideal Valve Linearized Systems Averaged Voltage Configure your model to balance simulation speed and model fidelity.

Purpose of Custom Valve Demonstration Servovalve, feedback Servovalve, spring-centered Proportional Valve Ideal Proportional Valve Show how to: Extend SimHydraulics and Simscape libraries using foundation elements Show how to include axial spool forces in SimHydraulics models Configuring your model to balance simulation speed and model fidelity B P T Important point to highlight how easy it is switch different variants...screenshot of different variants right->click blocks

Custom Four-Way Valve Model: Servovalve, feedback Servovalve, spring-centered Proportional Valve Ideal Proportional Valve Problem: Model the custom four-way directional valves within the Simulink environment Solution: Use Simscape and SimHydraulics to model the four-way directional valves

Custom Four-Way Valve (Servovalve Spring-Centered) Model: T A P B T Problem: Model the servovalve within the Simulink environment Solution: Use Simscape and SimHydraulics to model the four-way directional valve

Spool Axial Hydraulic Forces Model: P B T Problem: Include the hydraulic axial forces on the spool Solution: Use SimHydraulics to include the hydraulic forces on the spool

Purpose of Custom Valve Demonstration Servovalve, feedback Servovalve, spring-centered Proportional Valve Ideal Proportional Valve Show how to: Extend SimHydraulics and Simscape libraries using foundation elements Show how to include axial spool forces in SimHydraulics models Configuring your model to balance simulation speed and model fidelity B P T Important point to highlight how easy it is switch different variants...screenshot of different variants right->click blocks

Agenda Modeling Physical Systems Model and simulate Hydraulic Systems with SimHydraulics Actuation system Fuel Supply system Custom Valves Custom Components using Simscape language Thermal Liquid system Battery Cooling system Automatically tune component parameters Code generation from Simscape and SimHydraulics models

Simscape Language For Modeling Custom Components MATLAB-based language Object-oriented for model reuse Generate Simulink blocks Save as binary to protect IP Too many words… a simpler slide…

Simscape Language: Hydraulic Orifice Model: MATLAB based Object-oriented Define implicit equations (DAEs and ODEs) q = Re ≥ Recr Re < Recr Problem: Create a new physical modeling component for use in Simulink using these equations Solution: Use Simscape language to model the component

Agenda Modeling Physical Systems Model and simulate Hydraulic Systems with SimHydraulics Actuation system Fuel Supply system Custom Valves Custom Components using Simscape language Thermal Liquid system Battery Cooling system Automatically tune component parameters Code generation from Simscape and SimHydraulics models

Thermal Liquid Library Key Points Target Applications: Liquid heating/cooling systems Engines, batteries, houses Foundation elements for fluid transport, chambers, and converters for actuation Simscape language code provided for all blocks

Model Custom Components More complex components can be created by combining Foundation Library blocks Actuators Valves Accumulators Combine with other domains from Simscape Thermal Mechanical Electrical

Battery Cooling System Model: Problem: Model thermal fluid flow in an battery cooling system Solution: Use Simscape to model fluid flow through the radiator, pump, and battery

Agenda Modeling Physical Systems Model and simulate Hydraulic Systems with SimHydraulics Actuation system Fuel Supply system Custom Valves Custom Components using Simscape language Thermal Liquid system Battery Cooling system Automatically tune component parameters Code generation from Simscape and SimHydraulics models

Estimating Parameters Using Measured Data Model: A B P T AreaA AreaB AreaV Problem: Simulation data does not match measured data because the parameters are incorrect Solution: Use Simulink Design Optimization to automatically tune model parameters AreaA AreaB AreaV 0.025 0.02 175 AreaA AreaB AreaV 0.0176 0.0106 200

Estimating Parameters Using Measured Data Steps to Estimating Parameters 1. Import measurement data and select estimation data 2. Identify parameters and their ranges 3. Perform parameter estimation AreaA AreaB AreaV 0.025 0.02 175

Estimating Parameters Using Measured Data Advantages of Simulink Design Optimization Enables quick and easy comparison of simulation results and measured data to ensure simulation matches reality Automatic tuning of parameters saves time Optimization algorithms reveal parameter sensitivity and help improve model parameterization

Agenda Modeling Physical Systems Model and simulate Hydraulic Systems with SimHydraulics Actuation system Fuel Supply system Custom Valves Custom Components using Simscape language Thermal Liquid system Battery Cooling system Automatically tune component parameters Code generation from Simscape and SimHydraulics models

Analyze Faster Using Code-Generation Use Simulink accelerator modes when simulating Simscape models Results in 3-6x faster simulation by using generated code Deploy models as standalone simulation using RSIM Quickly run simulations with different input data sets Ideal for batch or Monte Carlo simulations Use Model Reference to shorten model generation and simulation time Model Data Set 1 Data Set 2 Data Set 3 Data Set 4 Standalone Executable Simulation Probably if time permits have some kind of rsim/pct type simulation Simscape models can be converted into C-Code. This allows us to take advantage of some additional features of Simulink to speed up our simulations. First, we can use the Simulink Accelerator Modes, which generate C-code from the model and simulate using that code. This can result in a 3-6x faster simulation. This does not require any additional MathWorks products. For customers that have Real-Time Workshop, it is possible to create standalone simulations from your Simscape models. Using the RSIM Target in Real-Time Workshop, you can generate a standalone executable that can run the simulation on a separate computer. Please note that standalone executables that use a variable-step solver require a Simulink license, while standalone executables that use a fixed-step solver do not require a Simulink license.

Configuring Hydraulic Actuation System for HIL Testing Model: Variable step, implicit solver ODE15s (Reference) Controller A B Numerically Stiff System Fixed-step, explicit solver (ODE1) Problem: Configure solvers to minimize computations so the model can simulate in real time Solution: Use local solvers on stiff physical networks and explicit solvers elsewhere Controller A B Local solver: Implicit fixed-step Configure Model Generate C Code Real-Time Hardware

Computational Time vs. Model Complexity Key Points Provides hydraulic component models for fluid power and fluid supply systems Configure your model to balance model fidelity and simulation speed Tune parameters to match measured data with MATLAB Test using HIL instead of hardware prototypes Computational Time Detail Computational Time vs. Model Complexity Configure Model Generate C Code Real-Time Hardware

Resources Literature Product: www.mathworks.com/products/simhydraulics/ Product Documentation: http://www.mathworks.com/help/physmod/hydro/index.html Technical Literature: http://www.mathworks.com/company/newsletters/technicalarticles.html?product=SH Webinars http://www.mathworks.com/products/simhydraulics/webinars.html Contact Info: pravesh.sanghvi@mathworks.com