Multi-physics Modeling of Technological Systems

Marc Budinger is Associate Professor at INSA and researcher at Institut Clément Ader in Toulouse, France. His current research concerns the modeling and preliminary design of aerospace electromechanical actuators. Ion Hazyuk is Associate Professor at INSA Toulouse and researcher at Institut Clément Ader, France. His current research focuses on thermal and dynamic modeling for systems simulation and design. Clément Coïc is a modeling and simulation consultant, and product developer at Modelon. He holds a PhD in model-based hydraulic actuation system design for helicopters (INSA Toulouse & Airbus Helicopters).

• Foreword xiChapter 1. Role of Simulation in the Design Cycle of Complex Technological Systems 11.1. Approach to the design of complex systems 21.1.1. Engineering activities in the design cycle 31.1.2. Modeling and simulation roles in the design cycle 41.1.3. Validation and verification 131.2. Book objectives and content 141.2.1. Modeling principles 141.2.2. Approaches and analysis tools 161.2.3. Multi-physics or multidisciplinary knowledge 171.2.4. Problem-based approach 17Chapter 2. Fundamental Concepts of Lumped Parameter-Based Multi-Physics Modeling 192.1. Definition and modeling levels of mechatronic systems 202.1.1. From mechanical systems to mechatronic systems 202.1.2. Modeling levels in the design of mechatronic systems 222.2. Modeling of mechatronic systems with lumped parameters 232.2.1. Lumped parameters 232.2.2. Port and causality notions 242.2.3. Kirchhoff’s laws and network approach 272.2.4. Representation of energy flows 302.2.5. Types of generic elements 302.3. Multi-physics modeling of a power window system 342.3.1. Description of the system and of modeled domains 342.3.2. Domains and elements used for modeling 352.3.3. Incremental modeling 372.3.4. Graphic or text modeling 392.3.5. Transient control and simulations 392.4. Revision exercises and multiple-choice questions 402.4.1. Revision of Kirchhoff’s laws in multi-domain modeling 402.4.2. Questions related to the power window system example 422.4.3. Multiple-choice questions related to the modelling of technological components 442.5. Problems 462.5.1. Analysis of the conditioning electronics of a pressure sensor 462.5.2. Modeling the power transmission of an electric scooter 492.5.3. Modeling a hydraulic actuation system for launcher thrust vector control 532.5.4. Electromagnetic interferences 58Chapter 3. Setting Up a Lumped Parameter Model 653.1. Introduction to the notion of adapted model 663.1.1. Chapter objectives and approach 663.1.2. Problem under study 673.1.3. Importance of the type of excitation 683.2. Identifying the main effects 693.2.1. Systematic setup of domains and effects 693.2.2. From geometry to network 703.3. Modeling approaches and selection of adapted models 733.3.1. Incremental modeling by increasing complexity 733.3.2. Model reduction by activity index analysis 773.3.3. Model reduction by design of the experiment or by comparison of effects 803.4. Introductory exercises related to setting up models with lumped parameters 833.4.1. Building up analytical skills 843.4.2. Geometry/network link: power steering analysis 883.4.3. Systematic analysis of effects: analysis of a direct injection system by common rail 913.5. Problems related to the choice of modeling level 933.5.1. Thermal response of a TGV motor – deductive approach 933.5.2. Modeling of a power steering torque sensor – geometry analysis 953.5.3. Calculation of the short-circuit torque of a submarine propulsion motor – model reduction 99Chapter 4. Numerical Simulation of Multi-Physics Systems 1034.1. From mathematical model to numerical model 1044.1.1. Mathematical models – various systems of equations 1044.1.2. Advantages of integration 1074.1.3. Various representations of a system of equations 1104.2. From numerical model to computer simulated model 1124.2.1. Causality 1124.2.2. Reaching consistency 1134.2.3. Bond graph modeling 1174.3. Simulation: numerical resolution of ODEs 1244.3.1. Review and definitions 1244.3.2. Separate steps methods 1254.3.3. Linked steps methods 1294.3.4. Stability domain of a method for solving ODE 1314.4. The main sources of error in modeling and simulation 1314.4.1. Model representativity 1314.4.2. Validity of parameters 1334.4.3. System initialization 1334.4.4. Numerical robustness 1344.4.5. Observation errors 1344.5. Revision exercises 1354.5.1. Revision of various modeling methods 1354.5.2. Causality studies and associated modifications 1364.6. Problem 138Chapter 5. Dynamic Performance Analysis Tools 1415.1. Dynamic performance indicators 1425.2. Laplace transform and transfer functions 1485.3. Stability of linear dynamic systems 1585.4. Analysis of first- and second-order systems. Model reduction 1675.4.1. First-order systems 1675.4.2. Second-order systems 1765.4.3. Model reduction 1855.5. Revision exercises 1965.5.1. Dynamic performances 1965.5.2. Transfer functions 2005.5.3. Stability 2025.5.4. Model reduction 2055.5.5. First-order systems 2115.5.6. Second-order systems 213Chapter 6. Mechanical and Electromechanical Power Transmissions 2176.1. Introduction 2186.1.1. Objective 2186.1.2. Case study 2186.2. Variational approaches 2206.2.1. Variational equivalents of network approaches in mechanics 2206.2.2. Systems with several degrees of freedom 2236.2.3. Multi-domain systems 2266.3. Modeling by direct integration of local laws: bulk and multi-layer ceramics 2286.3.1. Equations of piezoelectricity 2286.3.2. Equivalent model of piezoelectric ceramics 2316.3.3. Modelica implementation 2336.4. Principle of virtual works: amplified actuators 2356.4.1. Presentation of actuators and modeling hypotheses 2356.4.2. Turns ratio 2366.4.3. Modelica implementation 2376.5. Energy and co-energy balances: bimetals 2396.5.1. Presentation of actuators and modeling hypotheses 2396.5.2. Modeling 2396.6. Lagrange equations: Langevin transducers 2426.6.1. Actuator presentation 2426.6.2. Modeling 2436.6.3. Modelica implementation 2476.7. Introductory exercises 2496.7.1. Principle of virtual works: scissor mechanism 2496.7.2. Energies and co-energies: electromagnetic power-off brakes 2506.7.3. Lagrange equation: modeling of a personal transporter 2536.8. Modeling problems 2556.8.1. Modeling of the mechanical efforts in a car steering system 2556.8.2. High bandwidth fast steering mirror 257Chapter 7. Power Transmission by Low-Compressibility Fluids 2617.1. Fluid power 2627.1.1. Context 2627.1.2. Advantages of fluid power use 2627.2. Presentation of a helicopter actuation system 2637.3. Minimal fluid modeling according to the phenomena involved 2657.3.1. Fluid model requirements 2657.3.2. Mass density modeling 2677.3.3. Modeling of dynamic viscosity 2687.3.4. Modeling of the bulk modulus 2687.3.5. Properties modeling by tables 2687.4. Modeling of the various physical phenomena 2697.4.1. R element 2697.4.2. C element 2707.4.3. I element 2707.5. Modeling of the main hydraulic components 2717.5.1. Modeling of hydraulic fluid storage 2717.5.2. Modeling of hydraulic power generation 2727.5.3. Modeling of the hydraulic power distribution 2747.5.4. Modeling of hydraulic power modulation 2757.5.5. Modeling of hydraulic power transformation 2777.6. Simulation of a helicopter actuation system 2787.6.1. Modelica model of an actuation system 2787.6.2. Variation of performances depending on temperature 2797.6.3. Variation of performances depending on antagonist load 2817.7. Exercises and problems 2827.7.1. Multiple-choice questions on the modelling of hydraulic components 2827.7.2. Problem 1: simple modeling of a hydraulic servo valve 2847.7.3. Problem 2: modeling of the pressure regulator 287Chapter 8. Heat Power Transmission 2938.1. Heat exchangers 2938.1.1. Classification of heat exchangers 2948.1.2. Objectives of the study 2968.2. Effectiveness-based thermal modeling of heat exchangers. Constant effectiveness 2988.3. Estimation of the heat exchanger effectiveness 3028.4. Estimation of the global heat transfer coefficient of a heat exchanger 3088.5. Estimation of the pressure drops (losses) in the heat exchangers 3188.6. Revision exercises and problems 3228.6.1. Sizing of a heat exchanger with concentric tubes 3228.6.2. Sizing and modeling of a heat exchanger for the recovery of thermal energy in a double flow CMV 323Chapter 9. Thermal Power Conversion 3279.1. Several examples of heat engines 3289.2. Behavior of compressible fluids 3319.2.1. Fluid modeling 3319.2.2. Modeling of thermodynamic processes 3349.3. Thermodynamics review 3359.3.1. First law of thermodynamics 3359.3.2. Thermodynamic cycles 3379.4. Modeling of the components of heat engines 3419.4.1. Modeling of a turbine 3429.4.2. Modeling of a compressor 3459.5. Simulation of a thermal power plant 3499.6. Revision exercises and problems 3529.6.1. Modeling of fluids 3529.6.2. Efficiency of a gas turbine 3529.6.3. Optimization of a gas turbine 3549.6.4. Simulation of a heat pump 354References 357Index 361