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首页> 外文期刊>Multibody system dynamics >On the effect of multirate co-simulation techniques in the efficiency and accuracy of multibody system dynamics
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On the effect of multirate co-simulation techniques in the efficiency and accuracy of multibody system dynamics

机译：多速率协同仿真技术对多体系统动力学效率和精度的影响

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摘要

Dynamic simulation of complex mechatronic systems can be carried out in an efficient and modular way making use of weakly coupled co-simulation setups. When using this approach, multirate methods are often needed to improve the efficiency, since the physical components of the system usually have different frequencies and time scales. However, most multirate methods have been designed for strongly coupled setups, and their application in weakly coupled co-simulation is not straightforward due to the limitations enforced by commercial simulation tools used in mechatronics design. This work describes a weakly coupled multirate method intended to be a generic multirate interface between block diagram software and multibody dynamics simulators, arranged in a co-simulation setup. Its main advantage is that it does not enforce equidistant or synchronized communication time-grids and, therefore, it can be easily applied to set up weakly-coupled co-simulations using off-the-shelf commercial block diagram simulators while giving the user a great flexibility for selecting the integration scheme for each subsystem. The method is first tested on a simple, purely mechanical system with a known analytical solution and variable frequency ratio (FR) of the coupled subsystems. Several synchronization schemes (fastest-first and slowest-first) and interpolation/extrapolation methods (polynomials of different orders and smoothing) have been implemented and tested. Next, the effect of the interface on accuracy and efficiency is assessed making use of a real-life co-simulation setting that links an MBS model of a kart to a thermal engine modelled in Simulink. Results show that the proposed weakly coupled multirate method can achieve considerable reductions in the execution times of the simulations without degrading the numerical solution of the problem.
机译：复杂的机电一体化系统的动态仿真可以利用弱耦合的协同仿真设置以高效且模块化的方式进行。使用这种方法时，通常需要采用多速率方法来提高效率，因为系统的物理组件通常具有不同的频率和时标。但是，大多数多速率方法都是为强耦合设置而设计的，由于机电一体化设计中使用的商业仿真工具所施加的限制，它们在弱耦合协同仿真中的应用并非一帆风顺。这项工作描述了一种弱耦合的多速率方法，该方法旨在作为框图软件和多体动力学仿真器之间的通用多速率接口，并以协同仿真设置进行布置。它的主要优点是它不强制执行等距或同步的通信时间网格，因此，可以使用现成的商业框图仿真器轻松地将其用于建立弱耦合的协同仿真，同时为用户提供强大的功能。为每个子系统选择集成方案的灵活性。首先在具有已知分析解决方案和耦合子系统的可变频率比（FR）的简单，纯机械系统上对该方法进行测试。已经实现并测试了几种同步方案（最快优先和最慢优先）以及内插/外推方法（不同阶次和平滑的多项式）。接下来，利用将卡丁车的MBS模型链接到Simulink中建模的热机的现实生活中的联合仿真设置来评估界面对准确性和效率的影响。结果表明，所提出的弱耦合多速率方法可以在不降低问题数值解的情况下，大大减少仿真的执行时间。

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