HW3 Energy-Based Systems Modeling in Modelica - the Systems.docx

HW3: Energy-Based Systems Modeling in ModelicaME6105 Modeling and Simulation in DesignFor: Dr. Christiaan ParedisBy: Josh Anders, Mark Overmyer and Krista VanSciver11/1/2021TABLE OF CONTENTSTable of Figures 3Table of Tables 4Report: Energy-based systems modeling in modelica 5Task 1: Define Your Goals and Problem Domain 5Problem, Context and Level of Abstraction 5Specific Questions to Answer 6Simulation Problem Versus Design Problem 7Task 2: System and Simulation Specification 7Components and Component Interactions 7Assumptions, Physical Phenomena and Abstractions 8Task 3: Create Your Models in Dymola 9The Motor/Power Supply Models 10The Shaft and Tissue Model 14The Controller Models 16Task 4: Verification 18Motor Drive Verification 18Gearbox Verification 21Controller Verification 22Task 5: Experimentation and Interpretation 22Motor Experimentation and Interpretation 22Gearbox Experimentation and Interpretation 28Controller Experimentation and Interpretation 29Task 6: Lessons Learned 34Task 7: Project Web-Page 35Appendices 36Appendix A – Modelica Code 36Motor Assemblies 36Shaft and Tissue 42Controllers 48Appendix B – Detailed Test Results 51PID Controller Testing 51Appendix C – Brushless DC Motor Model 55Bibliography 63TABLE OF FIGURESFigure 1: Early controller prototype 8Figure 2: High Level Device Model 10Figure 3: Representative DC motor model (Brushed DC 28DT12) 11Figure 4: H-Bridge Modelica block 12Figure 5: PWM converter 12Figure 6: Simple battery layout 13Figure 7: Motor and Drive Sub-Assembly layout 13Figure 8: Gears and Shaft model 14Figure 9: Main transection force profile with three disturbances 15Figure 10: Tissue Model, which includes force profile. 15Figure 11: Determine_Output_Direction Model 17Figure 12: Basic_Controller Model 18Figure 13: Free Speed verification setup 19Figure 14: Brushed Motor Speed Response 19Figure 15: Brushless Motor Speed response 20Figure 16: Stall torque test setup 20Figure 17: Brushed DC stall torque performance 20Figure 18: Brushless DC stall torque performance 21Figure 19: Preliminary Controller simulation results 22Figure 20: Model to experiment with PWM period 23Figure 21: Motor Speed at PWM periods of 1E-2, 1E-3 and 1E-4 seconds, respectively 23Figure 22: Motor rotational inertia test setup 24Figure 23: Transection Time increases linearly as motor inertia increases 25Figure 24: Force vs. Time, Brushed DC 26Figure 25: Current vs. Time, Brushed DC 26Figure 26: Force vs. Knife Position, Brushed DC 27Figure 27: Force vs. Time, Brushless DC 27Figure 28: Current vs. Time, Brushless DC 27Figure 29: Force vs. Knife Position, Brushless DC 28Figure 30: Knife Position and Force versus Time for Varying Gearbox Ratios 29Figure 31: Transient system response to a PID controller 31Figure 32: Plots of No controller and P-Controller results for brushed motor 33Figure 33: Plots of No controller and PD-Controller results for brushless motor 34TABLE OF TABLESTable 1: Motor Verification Results 19Table 2: Motor Verification Results 21Table 3: Inertial Effects on Transection Time 24Table 4: Performance Comparison, DC motors 26Table 5: Summary of PID testing results for DC Brushed Motor 33Table 6: Summary of PID testing results for DC Brushless Motor 33Table 7: PID Methodology Testing Results 51Table 8: DC Brushed Motor PID Detailed Testing Results 52Table 9: DC Brushless Motor PID Detailed Testing Results 54REPORT: ENERGY-BASED SYSTEMS MODELING IN MODELICATASK 1: DEFINE YOUR GOALS AND PROBLEM DOMAINPROBLEM, CONTEXT AND LEVEL OF ABSTRACTIONToday, to provide some context, laparoscopic surgery minimizes patient risk, discomfort and post-op scarring by performing typical surgical procedures through one or more access ports made in the abdominal wall of a patient. Special devices exist to enable standard surgical tasks to be accomplished through the dimension constraints of the access ports. A Linear Transecting Clamp (LTC) is used for clamping and transecting tissue in laparoscopic procedures. LTC’s transect tissue by securing it between two transversely moving jaws and axially advancing a knife. To accomplish the axial transection, current LTC’s require surgeons to input high forces into passive mechanical mechanisms, which lead to fatigue.The problem statement can be clarified by the desire to create an actively driven (powered) Linear Transecting Clamp (LTC) that achieves minimum knife stalls, failures, transection time and length error, while minimizing device cost and maximizing device availability. Device cost can be measured through research into off-the-shelf component costs. Additionally, manufacturing methods can be factored in to provide a more complete picture.More specifically, to highlight some problem statement specifications, the knife of the LTC must move forward 。