Mikelsons, Lars; Ji, Hongchao; Brandt, Thorsten; Lenord, Oliver:

Symbolic Model Reduction Applied to Realtime Simulation of a Construction Machine

In: Proceedings 7th Modelica Conference
Italy (2009), S. 765-774
Buchaufsatz / Kapitel / Fach: Maschinenbau
Abstract:
The vehicle response of construction machines
strongly depends on the tuning of the control system
in interaction with the drive system. A compromise
between performance and comfort needs to be found
to fulfill the operators requirements on a high usability
of the machine. In order to achieve an optimal behavior
Hardware-in-the-Loop simulation techniques offer
a suitable approach to determine the overall behavior
in advance. Prerequisition is a realtime capable simulation
model of the considered system. Therefore, in
this paper the mathematical model of the system is automatically
adapted by symbolic model reduction algorithms
in order to match real-time requirements on
a given hardware. Inputs to the automatic reduction algorithm
are the complex mathematical system model,
the desired realtime cycle and the number of floating
operations per second (flops), which can be realized
by the chosen target hardware. The outputs of the algorithm
are the automatically reduced model, which
is guaranteed to run in realtime on the target hardware
and the maximal model error for the test scenario.
In this paper, the reduction procedure is demonstrated
for the complex hydromechanical model of a so-called
skid steer loader. Summarizing, the proposed procedure
of symbolic model reduction helps to reduce the
developing phase of mechatronic prototypes dramatically
as the adaptation of the system model with respect
to the target hardware is completely automated.
Keywords: symbolic model reduction, realtime, construction
maschines, object oriented modelling

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