Mechatronic Systems Modelling and Simulation with HDLs Georg Pelz Infineon Technologies, Munich, Germany Translated by Rachel Waddington Member of the Institute of Translation and Interpreting First published under the title Modellierung und Simulation mechatronischer Systeme — vom Chip zum Systementwurf mit Hardwarebeschreibungssprachen  H ¨ uthig-Verlag, Heidelberg, 2001 All Rights reserved Authorized translation from German language edition published by H ¨ uthig-Verlag Copyright  2003 John Wiley & Sons Ltd, The Atrium, Southern Gate, Chichester, West Sussex PO19 8SQ, England Telephone (+44) 1243 779777 Email (for orders and customer service enquiries): cs-books@wiley.co.uk Visit our Home Page on www.wileyeurope.com or www.wiley.com All Rights Reserved. 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Includes bibliographical references and index. ISBN 0-470-84979-7 (alk. paper) 1. Mechatronics. 2. Computer hardware description languages. I. Title. TJ163.12.P4513 2003 621–dc21 2002192433 British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library ISBN 0-470-84979-7 Typeset in 10.5/13pt Times by Laserwords Private Limited, Chennai, India Printed and bound in Great Britain by Antony Rowe Ltd, Chippenham, Wiltshire This book is printed on acid-free paper responsibly manufactured from sustainable forestry in which at least two trees are planted for each one used for paper production. Contents Preface xi 1 Objective and Motivation 1 1.1 Introduction 1 2 Principles of Modelling and Simulation 5 2.1 Introduction 5 2.2 Model Categories 8 2.3 Fields of Application 9 2.3.1 Introduction 9 2.3.2 Bottom-up design 9 2.3.3 Top-down design 10 2.3.4 Relationship of design strategies to modelling 12 2.3.5 Modelling for the specification 12 2.3.6 Modelling for the design 13 2.4 Model Development 14 2.4.1 Introduction 14 2.4.2 Structural modelling 16 2.4.3 Physical modelling 18 2.4.4 Experimental modelling 20 2.5 Model Verification and Validation 24 2.5.1 Introduction 24 2.5.2 Model verification 24 2.5.3 Model validation 27 2.6 Model Simplification 32 2.7 Simulators and Simulation 33 2.7.1 Introduction 33 2.7.2 Circuit simulation 33 2.7.3 Logic simulation 34 2.7.4 Multibody simulation 35 2.7.5 Block diagram simulation 36 vi CONTENTS 2.7.6 Finite element simulation 36 2.7.7 Software simulation 36 2.8 Summary 37 3 Modelling and Simulation of Mixed Systems 39 3.1 Introduction 39 3.2 Electronics and Mechanics 40 3.2.1 Introduction 40 3.2.2 Analogies 41 3.2.3 Limits of the analogies 43 3.2.4 Differences between electronics and mechanics 44 3.3 Model Transformation 45 3.3.1 Introduction 45 3.3.2 Circuit simulation 45 3.3.3 Logic/Petri net simulation 47 3.3.4 Multibody simulation 50 3.3.5 Finite-element simulation 51 3.3.6 Evaluation of the model transformation 51 3.4 Domain-Independent Description Forms 52 3.4.1 Bond graphs 52 3.4.2 Block diagrams 54 3.4.3 Modelling languages for physical systems 55 3.4.4 Evaluation of domain-independent description forms 57 3.5 Simulator Coupling 58 3.5.1 Introduction 58 3.5.2 Simulator backplane 58 3.5.3 Examples of the simulator coupling 60 3.5.4 Evaluation 62 3.6 Summary 62 4 Modelling in Hardware Description Languages 63 4.1 Introduction 63 4.2 Fields of Application 65 4.2.1 Formulation of specification and design 65 4.2.2 Validation of specifications and verification of designs 65 4.2.3 Automatic synthesis 66 4.3 Characterisation of Hardware Description Languages 66 4.4 Languages 68 4.5 Modelling Paradigms 69 CONTENTS vii 4.5.1 Introduction 69 4.5.2 Structural and behaviour-oriented modelling 70 4.5.3 Digital modelling 71 4.5.4 Analogue modelling 74 4.6 Simulation of Models in Hardware Description Languages 79 4.7 Summary 81 5 Software in Hardware Description Languages 83 5.1 Introduction 83 5.2 Simulation of Hardware for the Running of Software 85 5.3 Co-simulation by Software Interpretation 85 5.4 Co-simulation by Software Compilation 88 5.4.1 Introduction 88 5.4.2 Software representation 89 5.4.3 Synchronisation 90 5.4.4 Example of software modelling 92 5.4.5 Debugging of software 98 5.5 Summary 98 6 Mechanics in Hardware Description Languages 99 6.1 Introduction 99 6.2 Multibody Mechanics 100 6.2.1 Introduction 100 6.2.2 System-oriented modelling 104 6.2.3 Object-oriented modelling 108 6.2.4 Example: wheel suspension 111 6.2.5 Further applications 113 6.3 Continuum Mechanics 115 6.3.1 Introduction 115 6.3.2 Structural modelling 116 6.3.3 Physical modelling 125 6.3.4 Experimental modelling 130 6.4 Summary 132 7 Mechatronics 135 7.1 Modelling of Mechatronic Systems 135 7.2 Demonstrator 1: Semi-Active Wheel Suspension 136 7.2.1 System description 136 7.2.2 Modelling of software 138 viii CONTENTS 7.2.3 Modelling of mechanics 139 7.2.4 Simulation 140 7.3 Demonstrator 2: Internal Combustion Engine with Drive Train 143 7.3.1 System description 143 7.3.2 Modelling 145 7.3.3 Simulation 147 7.4 Demonstrator 3: Camera Winder 148 7.4.1 Introduction 148 7.4.2 System description 148 7.4.3 Modelling 148 7.4.4 Simulation 152 7.5 Demonstrator 4: Disk Drive 152 7.5.1 Introduction 152 7.5.2 The disk drive 153 7.5.3 Circuit development for disk drives 154 7.5.4 The virtual disk drive 157 7.5.5 System modelling 158 7.5.6 Simulation and results 159 7.5.7 Conclusion 160 7.5.8 Acknowledgement 161 7.6 Summary 161 8 Micromechatronics 163 8.1 Modelling Micromechatronic Systems 163 8.1.1 Introduction 163 8.1.2 Component design 164 8.1.3 System design 165 8.2 Demonstrator 5: Capacitive Pressure Sensor 166 8.2.1 System description 166 8.2.2 Modelling 168 8.2.3 Simulation 176 8.3 Demonstrator 6: Micromirror 182 8.3.1 System description 183 8.3.2 Modelling 183 8.3.3 Simulation 186 8.4 Summary 186 9 Summary and Outlook 187 Literature 189 CONTENTS ix Appendix 217 Symbols 217 Abbreviations 220 Registered Trademarks 220 Index 221 This Page Intentionally Left Blank Preface Most of this work came into being during my employment at the Chair for Electron Devices and Circuits in the Electronics Engineering department of the Gerhard- Mercator University, Duisburg. Section 7.5 covers material that I have worked on for my current employer, Infineon Technologies. At this point I would like to express my gratitude for the support that I received from many sides. My special thanks go to Prof. Dr. G. Zimmer, in whose depart- ment I was able to work continuously for many years on the subject of this book, and who helped me in many ways in the process. Moreover, I would like to thank Prof. Dr. M. Glesner for his support of the work. I would also like to thank my colleagues at the Gerhard-Mercator Univer- sity, Duisburg, the Fraunhofer Institut IMS and Infineon Technologies, who pro- vided a great deal of assistance in the form of discussions and suggestions dur- ing the preparation of the book. The following in particular should be men- tioned: Dr. J. Bielefeld, Dr. M. Leineweber, Dipl.-Ing. A. L ¨ udecke and Dipl.-Ing. L. Voßk ¨ amper. Apart from the technical side, I would like to express my thanks to Tilmann Leopold. Last, but not least, I thank my family for their encouragement and support during the composition of this book. Ebersberg, January 2003 Georg Pelz ( Georg.Pelz@onlinehome.de ) [...]... design of mechatronic systems by the use of simulations This raises the question of what exactly is mechatronics Current definitions describe mechatronics as an interaction between electronics, mechanics and information technology, see Isermann [164] or Wallaschek [421] It makes no difference here whether we are talking about macromechanics or micromechanics In the former case we speak of mechatronics,... micromechatronics or microelectromechanical systems (MEMS) As was discovered during the course of this project, although the dimensions of the mechanics in the systems under investigation may vary, the methods used for modelling and simulation are largely the same, which makes the joint consideration of macromechanics and micromechanics an obvious approach Why is the modelling and simulation of mechatronic. .. exchanged between simulators One example is the IEEE standard VHDL 1076.1 (VHDLAMS) [160], which permits the description of digital and analogue systems The aim of this work is to cover the entire breadth of modelling for mechatronic and micromechatronic systems using hardware description languages and to thereby take a direct route to the corresponding simulations This structure of this work is as... best, trust in a model increases with the number of tests Depending upon the problem to be solved, we can differentiate between two fundamental starting points in the simulation of mechatronic systems If the mechanical part of a mechatronic system is to be developed, then the mechanics should be developed taking into account the electronics In this case electronics and software are commonly considered as... and simulation are largely the same, which makes the joint consideration of macromechanics and micromechanics an obvious approach Why is the modelling and simulation of mechatronic systems difficult? First of all, the field of mechatronics incorporates very different domains and similarly varied methods of description The field of electronics includes analogue and digital, as well as continuous and event-oriented,... verification and validation of the model is not in sight As in other fields of simulation, models containing errors can produce arbitrary results Recognising such errors is often not a simple matter Mechatronic Systems Georg Pelz  2003 John Wiley & Sons, Ltd ISBN: 0-470-84979-7 2 1 OBJECTIVE AND MOTIVATION This is particularly true if the simulation relates to the design of a technical system and its task... and mechanics Particular importance is attributed to the verification and validation of models The third chapter describes state of the art techniques for the simulation 1.1 INTRODUCTION 3 of mechatronics and micromechatronics Chapter 4 supplies the most important constructs of digital and analogue hardware description languages Chapters 5 and 6 deal comprehensively with the methods for the consideration... creates a compendium of basic methods that can be combined at will according to the system under consideration This is illustrated in Chapters 7 and 8 on the basis of six demonstrators for mechatronics and micromechatronics The ninth chapter finally summarises the work and highlights its most important conclusions At the end of the book there is a bibliography, the appendix containing lists of symbols,... are available, whereas in the real system every variable to be monitored involves at least a significant measurement cost In addition, each measurement taken influences the behaviour of the system Mechatronic Systems Georg Pelz  2003 John Wiley & Sons, Ltd ISBN: 0-470-84979-7 6 2 PRINCIPLES OF MODELLING AND SIMULATION • In some cases the ‘time constants’ of the experiment and observer are incompatible,... social sciences Regardless of whether the matter under debate is the design of wheel suspension for a car, the metabolism of a bacteria, or the introduction of a new interest formula, models of these real systems are always drawn upon to gain an understanding of the inner relationships of the system and to make predictions about its behaviour The simulation is often also used as a substitute for experiments . design of mechatronic systems by the use of simulations. This raises the question of what exactly is mechatronics. Current definitions describe mechatronics. digital and analogue systems. The aim of this work is to cover the entire breadth of modelling for mechatronic and micromechatronic systems using hardware