Contribution aux développements des modèles analytiques compacts pour l’analyse vibratoire des systèmes mécatroniques

This thesis focuses on the development of a method for the preliminary design of mechatronic systems, taking into account the vibratory aspect, without going through costly design techniques, such as 3D CAD and finite element method.In an early stage of the design process of mechatronic systems, simple analytical models are necessary to the architect engineer in Mechatronics, for important conceptual decisions related to multi-physics coupling and vibration. For this purpose, a library of flexible elements, based on analytical models, was developed in this thesis, using the Modelica modeling language.To demonstrate the possibilities of this approach, we conducted a study of the vibration response of some mechatronic systems. Therefore, the pre-sizing approach was applied in a first phase to a simple mechatronic system, formed with a rectangular plate supporting electrical components such as electric motors and electronic cards, and in a second phase the approach was applied to a wind turbine, considered as a complete mechatronic system. Simulation results were compared with the finite elements method and other studies found in the scientific literature. Simulation results have enabled us to prove that the developed compact models assist the mechatronic architect to find results of simulation with an important accuracy and a low computational cost.Cette thèse a pour objectif le développement d’une méthode de pré-dimensionnement des systèmes mécatroniques prenant en compte l’aspect vibratoire sans passer par des techniques de conception coûteuses en temps de calculs et de mise en œuvre, telles que la CAO 3D et la méthode des éléments finis.Dans la phase amont de choix d’architecture du processus de conception des systèmes mécatroniques, des modèles analytiques simples sont nécessaires à l’architecte du système mécatronique afin de lui permettre de faire des choix d‘architecture prenant en compte les contraintes multi-physiques, notamment les vibrations. Dans ce but, une bibliothèque de modèles analytiques d’éléments mécaniques flexibles simples a été développée dans cette thèse en utilisant le langage de modélisation Modelica.Pour démontrer les possibilités de cette approche, une étude des réponses vibratoires de certains systèmes mécatroniques a été réalisée. Cette approche de pré-dimensionnement a ainsi été appliquée dans un premier temps à un système mécatronique simple formé d’une plaque rectangulaire supportant des composants tels que des moteurs et des cartes électroniques, puis dans un second temps à une éolienne représentant un système mécatronique complet.Les résultats obtenus lors des simulations ont été comparés avec ceux obtenus par la méthode des éléments finis ainsi qu’avec les résultats d’études présentes dans la littérature scientifique. Ces simulations nous ont permis de prouver que les modèles compacts développés fournissent à l’architecte du système mécatronique des résultats très précis avec un besoin en ressources informatiques faibles

Pre-designing of a mechatronic system using an analytical approach with dymola

This paper presents a pre-dimensioning method applied to a mechatronic system and regarding the vibrational aspect, through a simple modeling process in Dymola environment. We study the vibration transmission between dynamic exciters (motors) and receivers (electronic cards) which are located on a simply supported rectangular plate, using an analytical approach. This new method will allow us to perform representative and robust modeling and simulation. The solution for this issue would be a pre-sizing and pre-positioning procedure. It aims to determine a set of possible technical solutions and principal characteristics before the definitive choice of components and precise sizing of the system. The presented method predicts also behaviour of the mechatronic system. In order to validate the model with respect to the finite element method, selected simulation results are presented

Contribution to the development of compact analytical models for vibration analysis of mechatronic systems

Cette thèse a pour objectif le développement d’une méthode de pré-dimensionnement des systèmes mécatroniques prenant en compte l’aspect vibratoire sans passer par des techniques de conception coûteuses en temps de calculs et de mise en œuvre, telles que la CAO 3D et la méthode des éléments finis.Dans la phase amont de choix d’architecture du processus de conception des systèmes mécatroniques, des modèles analytiques simples sont nécessaires à l’architecte du système mécatronique afin de lui permettre de faire des choix d‘architecture prenant en compte les contraintes multi-physiques, notamment les vibrations. Dans ce but, une bibliothèque de modèles analytiques d’éléments mécaniques flexibles simples a été développée dans cette thèse en utilisant le langage de modélisation Modelica.Pour démontrer les possibilités de cette approche, une étude des réponses vibratoires de certains systèmes mécatroniques a été réalisée. Cette approche de pré-dimensionnement a ainsi été appliquée dans un premier temps à un système mécatronique simple formé d’une plaque rectangulaire supportant des composants tels que des moteurs et des cartes électroniques, puis dans un second temps à une éolienne représentant un système mécatronique complet.Les résultats obtenus lors des simulations ont été comparés avec ceux obtenus par la méthode des éléments finis ainsi qu’avec les résultats d’études présentes dans la littérature scientifique. Ces simulations nous ont permis de prouver que les modèles compacts développés fournissent à l’architecte du système mécatronique des résultats très précis avec un besoin en ressources informatiques faibles.This thesis focuses on the development of a method for the preliminary design of mechatronic systems, taking into account the vibratory aspect, without going through costly design techniques, such as 3D CAD and finite element method.In an early stage of the design process of mechatronic systems, simple analytical models are necessary to the architect engineer in Mechatronics, for important conceptual decisions related to multi-physics coupling and vibration. For this purpose, a library of flexible elements, based on analytical models, was developed in this thesis, using the Modelica modeling language.To demonstrate the possibilities of this approach, we conducted a study of the vibration response of some mechatronic systems. Therefore, the pre-sizing approach was applied in a first phase to a simple mechatronic system, formed with a rectangular plate supporting electrical components such as electric motors and electronic cards, and in a second phase the approach was applied to a wind turbine, considered as a complete mechatronic system. Simulation results were compared with the finite elements method and other studies found in the scientific literature. Simulation results have enabled us to prove that the developed compact models assist the mechatronic architect to find results of simulation with an important accuracy and a low computational cost

Predesign of a flexible multibody system excited by moving load using a mechatronic system approach

In this paper, a new analytical approach to object oriented modeling is presented for the predesign of a multibody system. We investigate the dynamic behavior of a system of interconnected components using the modeling language Modelica. In engineering, beam-masses are often used as design models. In fact, the considered system is composed of a flexible beam subjected to a moving load and supporting one or more translating elastic subsystems. Each subsystem is controlled by a vibration absorber and the structure is affected dynamically only through the moving character of the load. The problem of calculation of the dynamic response of this system is very important in many engineering applications such as in the predesign and analysis of a robotic portal systems, machine tools and bridge crane systems. The object oriented modeling approach will be presented to demonstrate the importance of this approach to parametric investigation. It will illustrate how subsystems from Modelica Standard Library can be connected to the developed structure in order to study the vibrational behavior of such a system. For validation purpose, results are compared with those reported in the literature

Compact Analytical Models for Vibration Analysis in Modelica/Dymola: Application to the Wind Turbine Drive Train System

International audienc

An Analytical Approach to Model-Based Parametric Design of Mechatronic Systems with Modelica: A Case Study

International audienc

Pre-designing of a mechatronic system using an analytical approach with Dymola

International audienceThis paper presents a pre-dimensioning method applied to a mechatronic system and regarding the vibrational aspect, through a simple modeling process in Dymola environment. We study the vibration transmission between dynamic exciters (motors) and receivers (electronic cards) which are located on a simply supported rectangular plate, using an analytical approach. This new method will allow us to perform representative and robust modeling and simulation. The solution for this issue would be a pre-sizing and pre-positioning procedure. It aims to determine a set of possible technical solutions and principal characteristics before the definitive choice of components and precise sizing of the system. The presented method predicts also behaviour of the mechatronic system. In order to validate the model with respect to the finite element method, selected simulation results are presented

Compact Analytical Models for Vibration Analysis in Modelica/Dymola: Application to the Wind Turbine Drive Train System

International audienc

Conceptual design decision support of a mechatronic system using analytical approach with Modelica

During conceptual design phase, system architects pre-validate architectures following different constrains. This paper proposes a new pre-designing method applied to a flexible multibody system to characterize its vibrational behavior analytically with Dymola/Modelica language. We study the vibration interaction between perturbations sources (motors) and receivers (electronic cards) through a flexible beam with arbitrary boundary conditions. In fact, a lot of mechatronic systems may have their natural frequencies and mode shapes dependent on their spatial configuration, which affect the dynamic response of the system. This methodology shows that using Modelica, we can implement different boundary conditions, making the element suitable for any multibody simulation. This model can help system architects to study the influence of the boundary conditions on the system response. Two types of boundary conditions are considered in this study, simply supported–simply supported (S-S) and clamped–clamped (C-C). The solution for this issue would be a pre-positioning procedure which targets to provide a support for decision-making on the feasibility of a given system architecture at an early design stage, before proceeding to the detailed design. The simulation results have been validated with respect to the literature and by a comparison with those obtained by the model based on the Beam component which belongs to the Modelica flexible Bodies Library

Conceptual design methodology for the preliminary study of a mechatronic system: application to wind turbine system

International audienceThis paper deals with a methodology for the preliminary design of a mechatronic system regarding the vibrational aspects using analytical approach with Modelica/Dymola. In fact, today, the most commonly used approach for modeling the vibrational behavior of a system is the finite element method. This method is effective however; it is very costly in computation time and space memory and not allows analyzing the whole mechatronic system because of the large number of components to be integrated. The main purpose of this work is to create compact analytical models and especially flexible beams in Modelica/Dymola. These elements can be thereafter inserted in a mechatronic system in order to study its vibrational aspects. The proposed approach aimed to highlight the importance of the structure analysis from the early stage of design and how the developed models allow a fast modeling. Our proposed approach is illustrated for the wind turbine system. In order to predict the motion and the deformation of the flexible system, the derived model considers the structural dynamics of the system and includes the dynamic coupling between the subcomponents. Selected simulation results have been presented to validate the model with respect to scientific reference case. The correctness of the results has been also ascertained by a comparison with those obtained by the finite element analysis using ABAQUS and with those obtained by the model based on the Beam component which belongs to the Modelica Flexible Bodies Library