EMM 2009, 7th European Mechatronics Meeting:
Mechatronics for Vehicles and Production
Modeling Guidelines and Tools Comparison for
Mechatronics System Design in Automotive Applications
- Application to a Motorized Hatchback G. Remy1, K. Ejjabraoui2, C. Larouci2, F. Mhenni3, R. Sehab2, P. Lefranc4,
B. Barbedette2, S.A. Raka5, C. Combastel5, S. Cannou6, F. Cardon2,
P. Cuvelier2, C. Marchand1, B. Iizuka7, P. Bastard7, D. Barbier8
1 LGEP
Laboratoire de Génie Electrique de Paris / SPEE-Labs, CNRS UMR 8507, Supelec,
Universités Paris VI et Paris XI. Plateau de Moulon 91192 Gif sur Yvette cedex.
2 ESTACA, Ecole Supérieure des Techniques Aéronautiques et de Construction Automobile,
34 rue Victor Hugo, 92300 Levallois-Perret
3 LISMMA SUPMECA, 3 Rue Fernand Hainaut, 93407 St-Ouen cedex
4 SUPÉLEC, Département Energie, 3 rue Joliot Curie, Plateau du Moulon, 91192 Gif-sur-Yvette
5 ECS - ENSEA, 6 avenue du Ponceau, 95014 Cergy-Pontoise Cedex
6 DASSAULT DATA Services, 10 rue Marcel Dassault CS 50502, 78946 Vélizy-Villacoublay
7 RENAULT, Direction de l'Electronique Avancée, Technocentre, 1 av. du Golf, 78288 Guyancourt
8 VALEO Management Services, 43 rue Bayen, 75848 Paris Cedex
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Summary
I Context of O2M / WP2-SP3
II The studied Mechatronic System
III An Evaluation of Existing Modeling Softwares
IV Modeling Guidelines using 5 different softwares
V Results Comparison
VI Conclusion
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Context: MOVEO / O2M / WP2-SP3
1/2
Mov’eo is a French Automotive Cluster.
SYSTEM@TIC is the French competitiveness cluster of PARISREGION
The O2M project is integrated into the French Clusters Mov’eo
and System@tic and focuses on :
Mechatronics Modeling and Design Tools
for automotive applications.
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Context: MOVEO / O2M / WP2-SP3
2/2
O2M includes different Work Packages (WP) and Sub-Projects (SP).
The WP2-SP3 PREDIM is dedicated to the design of high level
mechatronics systems (multi-domain approach).
The SP3-PREDIM’s main objectives are :
- to compare actual multi-domain softwares
- to develop softwares for the early design of mechatronics
systems.
The team consists of about 30 persons:
- among industrials: Renault, Valeo, Dassault Systèmes
- and laboratories: Estaca, Supméca (LISSMA), Sherpa
LGEP/Supelec (SPEElabs), ENSEA (ECS).
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Mechatronics Systems in Automotive Applications
A Motorized
Hatchback
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Studied System: Motorized Hatchback
Innovative functionality
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Components and Modeling Domains
Electrical Part:
 2 DC Motors
 2 4QVoltage Chopper
 2 LC Filters
Mechanical Part:
 2 Cylinders with gear reducers and ball-bearing screws
 Mechanical transmission (ball joint, spring, pivot joint…)
Control Part:
 2 PI current controller
 1 PID angular position controller
 1 angular position sensor
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What is the best software for early design?
Multi-domain approach ? Collaborative Design
Issues with Traditional Development
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One solution is the Model-based design
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Softwares for multi-domain modeling
0D/1D Tools:
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2D/3D Tools
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Matlab/Simulink
Dymola (langage MODELICA)
Simplorer (langage VHDL-AMS)
Excel
AMESim
Maple
Pro-Design
Saber
PsPice
20-sim
Cadence
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Flux
Comsol
Maxwell
Flotherm
Adams
Ideas
ANSYS
SolidWorks
Nastran
LMS Virtual.Lab
Catia
June 24 & 25, 2009, CIUP, Paris, France
Evaluation Criteria
Data Management: Development & Marketing (Maintenance, Update)
Copyright Management (Data Accessibility,
Concurrent Engineering)
Security of Model Trade (Intellectual Property)
Management of multi-sites
Solving Methods: DAE Solver, ODE, PDE, Algorithm, Equations Types,
Continuous and Discrete Coupling, Causality
Principle of Model Implementation (Procedural, Object-Oriented)
External Links: Accessibility of Model Library (Model Shariblity,
Co-simulation, Rapid Prototyping , HIL)
Multi-Physics Coupling: Available Domains, Model Relevance,
Available Coupling, Model Library
Tool use: IHM, Simplicity of use, Transparency, Training need
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An Example of Evaluation: Simplorer 1/2
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An Example of Evaluation: Simplorer 2/2
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Data Management
4,0
0D, 1D Tools
3,5
2D, 3D Tools
3,0
2,5
2,0
1,5
1,0
0,5
0,0
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Solving performances (ODE)
6,0
0D, 1D Tools
5,0
2D, 3D Tools
4,0
3,0
2,0
1,0
0,0
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Domains of Physics and Model Relevance,
Possible Coupling, Model Library
4,0
Outil 0D, 1D
3,5
Outil 2D, 3D
3,0
2,5
2,0
1,5
1,0
0,5
0,0
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Results Overview
20SIM
Data Management
Simplicity of use,
Transparency,
Training need
Saber
Simplorer
5,0
4,5
4,0
3,5
3,0
2,5
2,0
1,5
1,0
0,5
0,0
AMESim
Matlab_Simulink
Dymola
Excel
Maple
Solving
Techniques
Pro_designe
CADENCE
PsPice
Comsol
Flux
Maxwell
Flotherm
CATIA
Adams
LMS
Domains of Physics
and Model Relevance,
Possible Coupling,
Model Library
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External Links
ANSYS
SolidWorks
IDEAS
NASTRAN
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Weighted Global Evaluation of each software
4,0
3,5
3,0
Matlab-Simulink,
Dymola,
Simplorer,
AMESim
0D, 1D Tools
2D, 3D Tools
2,5
2,0
1,5
1,0
0,5
0,0
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CAUSALITY PRINCIPLE
In physics, the causality principle defines that
Causes are prior to effects they produce.
During the modeling process of mechatronic systems,
causality can be managed using different methods.
The Modelling-Simulating softwares handle causality
differently.
There are two types of modeling regarding the causality:
T
 The Causal Modeling
1
f + Js
Ω
 The Acausal (or Physical) Modeling:
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Causal / Acausal VS Procedural / Declarative
Causal Modeling use a Procedural Language:
The model simulation will follow a predefined procedure
and will fulfill the causality path of the model.
Acausal Modeling use Declarative Language:
All the model parameters are defined on the same way.
The language specify equality and not affectation.
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Matlab-Simulink-SimPowerSystems 7.6.0 (R2008a)
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The infinite search of the Accuracy
4Q DC Chopper
Models
Level A
Level B
Level C
Block Choice
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AMESim
Acausal Modeling using dedicated library
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LMS Imagine.Lab AMESim v8.0a
Solutions for Automotive and Ground Transportation
dedicated for all major vehicle subsystems:





internal combustion engines,
transmissions,
vehicle thermal management systems,
vehicle systems dynamics
as well as fluid systems related to engines and electrical
systems.
Vehicle engineering teams can simulate system
performance during the early design stage to optimally
balance multiple functional requirements and brand
attributes.
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AMEsim extra Librairies
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Ansoft Simplorer v7.05 Build28
Use of IEEE and Standard Library
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Language VHDL-AMS
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Matlab-Simulink R2008b Simscape v3.0
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Matlab-Simulink R2008b Simscape v3.0
4
B
ca isse
CS1
F
Universal
PS S
theta_r
<theta_r>
F
B
Fc
v
p
xv
P
Joint
Sensor
f orce_v erin
force_verin
<xv>
tige
verin1
B
CS2
MRR1
CS3
B
pivot
glissant
F
capteur
force1
capteur
force
CS1
2
C
F
CS3
<wm>
ref
rendement
sur force
orce_resso
C
wm
vab
R
R
Rot
Sensor1
R
R
PS S
Conn4
Cm
<Cm>
sortie
entrée
C
W
A
C
frott
PS S
C
W
A
R
ref
Rot
Sensor
P
C
A
sortie
R
entrée
C
O
R
S
corps
verin
<force_vab
C
F
R
T
f orce_ressort
R
C
PS S
rendement
sur couple
C
reducteur
R
Torque
Sensor
Conn1
1
f orce_v ab
CS2
PS S
F
Disassembled
Spherical
hayon
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Dymola
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Various Library
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Dymola
Multi-Engineering Systems Behavior modeling and
simulation based on MODELICA
Can handle mixture of models: mechanical, electrical,
hydraulic, chemical, thermodynamic, control, etc.
Availability of ready-to-use model libraries
Equation based open architecture
Object-oriented Modeling
Uses ModelicaLanguage for Reuse
Maintained and advanced by international design group
Utilizes automatic formula manipulation for efficiency
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Somes Comparisons
Advantages
 Multi-tasking (Simulink)
 Errors Identification
 Use of Electrical and
mechanical Library
 Causality management
 Check of Units Homogeneity
(Simscape, Dymola)
 3D View, easy 3D referencing
(Dymola, Simscape)
 Library with multi-level models
(Simple or Advanced Models)
(AMESim)
Drawbacks
 Algebric loops
 Complex Parametrisation of
some models
 Components may slow down
simulation
 Complex modeling of
backlash, bumper, friction
 Hard modeling of close
mechanical chain
 No model of flexible body
 Bad memory management
 Advanced user only
 Discrete Models (VHDL-AMS)
 User-friendly IHM (Dymola,
AMESim)
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Some of the results: The hatchback opening
70
20
60
The angular
position (deg)
50
The DC motor
current (A)
15
40
10
30
5
20
10
0
0
-10
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
-5
0
0.5
Time (s)
4000
2500
3500
2000
3000
2500
2000
1000
0
-500
2
2.5
Matlab-Simulink Simpower System master
Simpower System slave
3Matlab-Simulink
3.5
4
4.5
Simscape master
Simscape slave
AMESim master
AMESim slave
Matlab-Simulink master
Matlab-Simulink slave
Dymola master
Dymola slave
The cylinder
force (N)
1500
The DC motor
speed (tr/min)
500
1.5
Time (s)
3000
1500
1
1000
500
0
0.5
1
1.5
2
2.5
3
3.5
4
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4.5
0
0
0.5
1
35
1.5
2
2.5
3
3.5
4
4.5
June 24 & 25, 2009, CIUP, Paris, France
Conclusion… and perspective
Early Design of Mechatronics System need multi-domain software
  May be in the future, there will be standard like XML for interfacing software
Mechatronics design need mechanical, electrical and control modeling
  Future will see Thermal, Integration issue and CEM include in early design
Simulation are based on the solving of Causal or Acausal Modeling
  Optimization and Control of massive MIMO Systems will be the futures issues
Thank you for your attention
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