Preliminary design of electromechanical actuators with Modelica

Abstract

This article deals with a methodology for a computer-aided design of electromechanical actuators from the preliminary design of components to the detail design of the electrical motor. The developed library of components for the simulation takes advantage of the non-causal and object oriented characteristics of the Modelica language. The capabilities of the Modelica language and the LMS.Imagine.Lab AMESim or Dymola Platforms are strongly used in order to build a fully integrated process to design and size the different component of the final actuator. The proposed approach is illustrated with the sizing of a flight control actuator.

Size Estimation Tools for Conventional Actuator System Prototyping in Aerospace

“…Of course, off-the-bench actuator data can be used to generate sizing databases and get estimates of actuator sizing by data interpolation, or using scaling methods. Rapid sizing tools with appropriate levels of accuracy have been developed in the past, specifically for EHA and EMA systems [1,[6][7][8]. Munjulury et al [6] proposed their method to scale EHA and EMA used as control surface actuators based on physical mathematical models for hydraulic components and scaling laws for the electric actuator components.…”

The Structural Synthesis of the Parallel Robots

“…Definitions and explanations on the notations and names in the field of parallel robots are widely presented in [3]. A parallel robot is defined as the "... robot in which end effector is connected in parallel to reference link by 2 ≥ k kinematic chains called limbs or legs" and a fully parallel robot as "...a parallel robot in which the number of limbs is equal to the robot mobility and each limb inte-http://dx.doi.org/10.5755/j01.mech.17.3.505 grates just one actuator" [3]. Under this concept, one can consider that a parallel mechanism is typically made of two rigid bodies, one movable and one fixed, connected by at least kinematic chains.…”

“…Practical solutions of mechanisms for parallel robots, which are applied also in medicine, consider 2 DOF for planar variants and DOF 3 ≥ for spatial variants.…”

“…Structural synthesis of mechanisms for parallel robot is addressed in detail in [2], is found in an approach based on the Lie Group of displacements in [7] or on topological synthesis of translational parallel manipulators [8]. Structural analysis and synthesis viewpoints for the TRIGLIDE robot, with relevance in medicine [9,10], are encountered in [3,11,12]. Synthesis aspects of 6-DOF complex structures are addressed in [13,14].…”

A Modelica-Based and Domain-Specific Framework for Electromechanical System Design

“…Modelica library for of electromechanical actuators is developed since three years , [13], [14], causal models and inverse simulation. In fact, these Modelica models contain e simulation and analysis models.…”