On the cosimulation of multibody systems and hydraulic dynamics
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On the cosimulation of multibody systems and hydraulic dynamics Jarkko Rahikainen1 Miguel Ángel Naya2
· Francisco González2 · · Jussi Sopanen1 · Aki Mikkola1
Received: 1 July 2019 / Accepted: 24 January 2020 © The Author(s) 2020
Abstract The simulation of mechanical devices using multibody system dynamics (MBS) algorithms frequently requires the consideration of their interaction with components of a different physical nature, such as electronics, hydraulics, or thermodynamics. An increasingly popular way to perform this task is through co-simulation, that is, assigning a tailored formulation and solver to each subsystem in the application under study and then coupling their integration processes via the discrete-time exchange of coupling variables during runtime. Co-simulation makes it possible to deal with complex engineering applications in a modular and effective way. On the other hand, subsystem coupling can be carried out in a wide variety of ways, which brings about the need to select appropriate coupling schemes and simulation options to ensure that the numerical integration remains stable and accurate. In this work, the co-simulation of hydraulically actuated mechanical systems via noniterative, Jacobi-scheme co-simulation is addressed. The effect of selecting different cosimulation configuration options and parameters on the accuracy and stability of the numerical integration was assessed by means of representative numerical examples. Keywords Co-simulation · Multibody system dynamics · Hydraulic dynamics · Multiphysics · Benchmarking
B J. Rahikainen
[email protected] F. González [email protected] M.Á. Naya [email protected] J. Sopanen [email protected] A. Mikkola [email protected]
1
Department of Mechanical Engineering, LUT University, Skinnarilankatu 34, Lappeenranta, Finland
2
Mechanical Engineering Laboratory, University of A Coruña, Mendizábal s/n, Ferrol, Spain
J. Rahikainen et al.
1 Introduction During the last decades, multibody-based simulation tools have established themselves in industry as they allow rapid testing of mechanical systems without costly prototyping. With the increase in computational power at affordable prices, these tools have also achieved the real-time limit outside the realm of academic discussions; see, for example, [1, 2]. However, in parallel with the maturity of this technology, the demand has risen for system-level simulation tools. Most engineering applications of industrial interest include not only mechanical components whose behavior can be described with conventional multibody system dynamics (MBS) formulations, but also elements with different physical properties, behavior, and time scale. These include control and electronics components, hydraulics circuits, and thermodynamic subsystems, among many others. When this is the case, the dynamics of the multibody components can no longer be considered on its own; instead, the interaction with the rest of elements in the engineering assembly must be appropriately described and taken into account
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