MSC. Software Corporation 2 MacArthur Place Santa Ana, CA 92707,USA Tel:(714)540-8900 Fax:(714)784-4056 Web: http:/www.mscsoftware.com Tokyo, Japan United States Munich, Germany Tel: 81-3-6911-1200 Tel:1-800-732-7284 Tel: (+49)-89-431987 0 Fax: 81-3-6911-1201 Fax:(714)979-2990 Fax: (+49)-89-4361716 Dynamic System Modeling, Simulation, and Analysis Using MSC.EASY5 Advanced Class EAS102 Course Notes December2005 Part Number: E5*V2005*Z*Z*Z*SM-EAS102-NT1
Advanced Class Dynamic System Modeling, Simulation, and Analysis Using MSC.EASY5 December 2005 EAS102 Course Notes Part Number: E5*V2005*Z*Z*Z*SM-EAS102-NT1 MSC.Software Corporation 2 MacArthur Place Santa Ana, CA 92707, USA Tel: (714) 540-8900 Fax: (714) 784-4056 Web: http://www.mscsoftware.com Munich, Germany Tel: (+49)-89-43 19 87 0 Fax: (+49)-89-43 61 716 United States Tel: 1-800-732-7284 Fax: (714) 979-2990 Tokyo, Japan Tel: 81-3-6911-1200 Fax: 81-3-6911-1201
Advanced class Introduction Goals and Content · Goals Appreciate MSC EASY5 as a set of tools to solve engineering problems Use all of MSC. EasY5's capabilities -not just the familiar ones Look for an MSC EASY5 tool or feature to help with an unusual problem Work with MSC EAsY5 not around it What class is not about MSC,EASY5 mechanics but some is inevitable Control analysis/design, but some is inevitable Tutorial on Thermal-Hydraulic, Gas Dynamics, Powertrain ibrary, etc It does contain. Review of some fundamentals that are sometimes not well understood Concepts and use of some advanced features cannot be encyclopedic Topics selected to fit class needs EAS102. December 2005 pyright@ 2005 MSC Software Corporation Chart 2
EAS102, December 2005 Copyright© 2005 MSC.Software Corporation Chart 2 • Goals Appreciate MSC.EASY5 as a set of tools to solve engineering problems Use all of MSC.EASY5’s capabilities – not just the familiar ones Look for an MSC.EASY5 tool or feature to help with an unusual problem Work with MSC.EASY5, not around it • What class is not about: MSC.EASY5 mechanics, but some is inevitable Control analysis/design, but some is inevitable Tutorial on Thermal-Hydraulic, Gas Dynamics, Powertrain Library, etc. • It does contain: Review of some fundamentals that are sometimes not well understood Concepts and use of some advanced features – cannot be encyclopedic Topics selected to fit class needs Advanced Class Introduction Goals and Content
Advanced class Introduction Outline of course Content · Overview of Msc, Easy5 Review of some Fundamentals Model Building Process Specifying Analysis Data Finding an Initial Operating Point -Steady State Analysis Running a Transient Response-Numerical Integration Using the Linear Model Analysis-Eigenvalues and Eigenvectors Review of Fortran components Building Library Components Modeling Digital Controllers-Delay and Sample states Modeling discontinuities with Switch States Miscellaneous Advanced Topics EAS102. December 2005 pyright@ 2005 MSC Software Corporation Chart 3
EAS102, December 2005 Copyright© 2005 MSC.Software Corporation Chart 3 • Overview of MSC.EASY5 • Review of Some Fundamentals • Model Building Process • Specifying Analysis Data • Finding an Initial Operating Point - Steady State Analysis • Running a Transient Response - Numerical Integration • Using the Linear Model Analysis - Eigenvalues and Eigenvectors • Review of Fortran Components • Building Library Components • Modeling Digital Controllers - Delay and Sample states • Modeling Discontinuities with Switch States • Miscellaneous Advanced Topics Advanced Class Introduction Outline of Course Content
Overview What is MSC,EASY5? MSCEASY5 is an engineering tool for analyzing complex systems Can be Electrical, Pneumatic, Hydraulic, Mechanical, Used for "intermediate"level of detail modeling and analysis More detailed than discrete event or steady state tools Less detailed than finite element tools Models use nonlinear, discontinuous algebraic, differential, and difference equations Model can be built in different ways Use MSC EASY5 general purpose blocks(integrators, saturation, sums,. Use MSC EASY5 libraries for specific application areas Hydraulic Gas dynamics& pneumatics Electric dri Multiphase fluid Powertrain Write your own equations in Fortran or C User Code components Build your own application libraries EAS102. December 2005 pyright@ 2005 MSC Software Corporation Chart 4
EAS102, December 2005 Copyright© 2005 MSC.Software Corporation Chart 4 • MSC.EASY5 is an engineering tool for analyzing complex systems Can be Electrical, Pneumatic, Hydraulic, Mechanical,... Used for “intermediate” level of detail modeling and analysis More detailed than discrete event or steady state tools Less detailed than finite element tools Models use nonlinear, discontinuous algebraic, differential, and difference equations • Model can be built in different ways Use MSC.EASY5 general purpose blocks (integrators, saturation, sums,...) Use MSC.EASY5 libraries for specific application areas – Hydraulics – Gas dynamics & pneumatics – Electric drive – Multiphase fluid – Powertrain Write your own equations in Fortran or C User Code components Build your own application libraries Overview What is MSC.EASY5?
Overview Block Diagram Model Representation PI Controller Position Command (fr actuator control) First Order Lag 目一 Servo valve Spring Force Two Chamber Actuator (w pressure state) S Global Fluid Properties Conditions(P, D FIxed ofice Fluid P=1.10 Constant pressure Each box represents the behavior of a system elements Blocks from MSC EASY5 GP library generic integrators, summing junctions, etc. Components from application libraries- pipes, pumps, motors, etc. Connection arrows between blocks represent interactions between system element Interaction(information flow) may be single-or bi-directional EAS102. December 2005 pyright@ 2005 MSC Software Corporation Chart 5
EAS102, December 2005 Copyright© 2005 MSC.Software Corporation Chart 5 Constant pressure Servo Valve (w pressure state) 1 First Order Lag .01s+1 P=1.105 source PI Controller (for actuator control) KP=10 KI=.025 50 -50 S2 GB Two Chamber Actuator S2 LA Position Command Spring Force command Fixed orifice Upstream Boundary Conditions (P, T) P = 100 T = 50 Global Fluid Properties Hydraulic Fluid 4 SPRFORC Actuator_pos Overview Block Diagram Model Representation Each box represents the behavior of a system elements Blocks from MSC.EASY5 GP library – generic integrators, summing junctions, etc.. Components from application libraries – pipes, pumps, motors, etc. • Connection arrows between blocks represent interactions between system element Interaction (information flow) may be single- or bi-directional
Overview Analysis Options Types of Analysis Steady state Find the values the plant would settle out to after an initial transient Simulation- time response How does the plant respond to a command or a disturbance Model linearization Determine the stability of the system For control system design Also for understanding system Frequency response between any two points in model Root locus, Stability margins, Eigenvalue Sensitivity, Power Spectral Density Matrix Algebra Tool Controls design Data Analysis before or after other analyses Use MSC, EAsY5 Plotter of visualize results EAS102. December 2005 pyright@ 2005 MSC Software Corporation Chart 6
EAS102, December 2005 Copyright© 2005 MSC.Software Corporation Chart 6 - Root locus, Stability margins, Eigenvalue Sensitivity, Power Spectral Density • Types of Analysis: Steady State – Find the values the plant would settle out to after an initial transient Simulation – time response – How does the plant respond to a command or a disturbance Model Linearization – Determine the stability of the system – For control system design – Also for understanding system Frequency response between any two points in model Matrix Algebra Tool – Controls Design – Data Analysis before or after other analyses • Use MSC.EASY5 Plotter of Visualize results Overview Analysis Options
Overview MSC EASY5 is Several Programs Programs you interact with MSC EASY5x main window here you construct your model schematic Also used for data entry and controlling analyses Plotter Visualize the results of the analyses Icon Editor Create custom graphic representations for your components Create component on-line documentation Matrix Algebra TOOl(MAT Programs that run in the"background Model generator Translates your schematic diagram into a Fortran subroutine of model equations called EQMO Analysis/Simulation program Where the actual computation occur Custom built for each model Library Maintenance and Model Documentation programs EAS102. December 2005 pyright@ 2005 MSC Software Corporation Chart 7
EAS102, December 2005 Copyright© 2005 MSC.Software Corporation Chart 7 • Programs you interact with MSC.EASY5x main window – Where you construct your model schematic – Also used for data entry and controlling analyses Plotter – Visualize the results of the analyses Icon Editor – Create custom graphic representations for your components – Create component on-line documentation Matrix Algebra Tool (MAT) • Programs that run in the “background” Model generator – Translates your schematic diagram into a Fortran subroutine of model equations called EQMO Analysis/Simulation program – Where the actual computation occur – Custom built for each model Library Maintenance and Model Documentation programs MSC.EASY5 is Several Programs Overview
Overview Levels of Dynamic System Simulation Fidelity Physical systems can be simulated at many levels of complexity. The"correct"level depends on the purpose of the simulation 1. Atomic level uses quantum mechanical partial differential equations(PDE's Purpose: molecular level effects Applications nuclear physics 2. Continuum (or distributed parameter)-uses field equations (PDE's Purpose: study quantities that vary significantly over the points in a geometric object Applications detailed aerodynamics, impact analysis, component (e.g. valve)analysis 3. Macroscopic (or lumped parameter)-uses ordinary differential equations Applications Flight controls, hydraulic system analysis, electric power system contro Purpose: study quantities that vary in time but can be averaged over spatial components 4. Systems analysis - uses algebraic equations with time delays Purpose: study quantities that effectively change value instantaneously at discrete instances of time Applications: Scheduling, communications Each level requires orders of magnitude more effort than the next highest but prov ides more accurate results MSC EASY5 is usually used to model dynamic systems at Level 3, but occasionally it is used for level 2 EAS102. December 2005 pyright@ 2005 MSC Software Corporation Chart 8
EAS102, December 2005 Copyright© 2005 MSC.Software Corporation Chart 8 Physical systems can be simulated at many levels of complexity. The “correct” level depends on the purpose of the simulation. 1. Atomic level – uses quantum mechanical partial differential equations (PDE’s) – Purpose: molecular level effects – Applications: nuclear physics 2. Continuum (or distributed parameter) - uses field equations (PDE’s) – Purpose: study quantities that vary significantly over the points in a geometric object – Applications: detailed aerodynamics, impact analysis, component (e.g. valve) analysis 3. Macroscopic (or lumped parameter) - uses ordinary differential equations – Purpose: study quantities that vary in time but can be averaged over spatial components – Applications: Flight controls, hydraulic system analysis, electric power system control 4. Systems analysis - uses algebraic equations with time delays – Purpose: study quantities that effectively change value instantaneously at discrete instances of time – Applications: Scheduling, communications Each level requires orders of magnitude more effort than the next highest but provides more accurate results. MSC.EASY5 is usually used to model dynamic systems at Level 3, but occasionally it is used for Level 2. Levels of Dynamic System Simulation Fidelity Overview
Advanced Modeling and Simulation With MSC,EASY5 Model Building and simulation Review EAS102. December 2005 pyright@ 2005 MSC Software Corporation Chart 9
EAS102, December 2005 Copyright© 2005 MSC.Software Corporation Chart 9 Advanced Modeling and Simulation With MSC.EASY5 Model Building and Simulation Review
Building Models Start MSC.EASY5 · Enter name of mode Open the Add component panel Press add button in the editing toolbar Alternatively: Select"Add from the EASY5x Edit Menu To add a component to your model Select the library in the top frame of the Add panel Select the group from the middle frame of the Add panel Select the component from the third frame Point at the spot on the schematic window where you want the component and click the left mouse button To add a connection between two component Click on the“From” component to select it click on the"To"component to get default connection Hold-R(right click and hold on the To" component to force a non-default connection EAS102. December 2005 pyright@ 2005 MSC Software Corporation Chart 10
EAS102, December 2005 Copyright© 2005 MSC.Software Corporation Chart 10 • Start MSC.EASY5 • Enter name of model • Open the Add Component panel Press Add button in the Editing toolbar – Alternatively: Select “Add” from the EASY5x Edit Menu • To add a component to your model Select the library in the top frame of the Add panel Select the group from the middle frame of the Add panel Select the component from the third frame Point at the spot on the schematic window where you want the component and click the left mouse button • To add a connection between two component Click on the “From” component to select it Click on the “To” component to get default connection – Hold-R (right click and hold) on the “To” component to force a non-default connection Building Models
