Comparison of suitability of Simscape and Simcenter Amesim for modeling and simulation of forest harvester cranes
Rissanen, Jiri-Pekka (2022)
2022
Automaatiotekniikan DI-ohjelma - Master's Programme in Automation Engineering
Tekniikan ja luonnontieteiden tiedekunta - Faculty of Engineering and Natural Sciences
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Hyväksymispäivämäärä
2022-02-14
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tuni-202201171350
https://urn.fi/URN:NBN:fi:tuni-202201171350
Tiivistelmä
Modeling and simulation of a forestry harvester crane are studied in this Master's Thesis. The objective of this thesis is to evaluate how suitable a Simscape environment is for multi-domain physical system modeling compared to a Simcenter Amesim environment. The thesis consists of modeling mechanical and hydraulic systems of the C44+ harvester crane in the Simscape environment and performing comparative simulation studies between the corresponding Simscape and Amesim crane models.
The Simcenter Amesim crane model is a baseline for the simulation result comparison. In addition to the simulation results, simulation times and software features are evaluated between the Simscape and Simcenter Amesim environments. The simulation cases are selected so that the behavior of each actuator can be analyzed separately. Moreover, one simulation case representing the crane work cycle is used to study the model behavior during a more realistic use case.
The simulation studies show that the Simscape has promising modeling and simulation capabilities compared to Simcenter Amesim. The simulation results considering actuators' position, velocity, and pressure data were similar in most simulation cases. Compared to the other simulation cases, the differences between the models were more clear in the work cycle simulation case in which the actuators were used simultaneously.
The simulation times varied significantly between the simulation cases, making it difficult to conclude the software and model performances reliably. Simscape model simulation times were on average 17 \% shorter than the Amesim model simulation times when both crane models had IMU (Inertial Measurement Unit) models included. For comparison, in the case where the Amesim model did not have the IMU models, the Amesim model simulation times were on average 31 \% shorter than the Simscape model simulation times.
The Simcenter Amesim crane model is a baseline for the simulation result comparison. In addition to the simulation results, simulation times and software features are evaluated between the Simscape and Simcenter Amesim environments. The simulation cases are selected so that the behavior of each actuator can be analyzed separately. Moreover, one simulation case representing the crane work cycle is used to study the model behavior during a more realistic use case.
The simulation studies show that the Simscape has promising modeling and simulation capabilities compared to Simcenter Amesim. The simulation results considering actuators' position, velocity, and pressure data were similar in most simulation cases. Compared to the other simulation cases, the differences between the models were more clear in the work cycle simulation case in which the actuators were used simultaneously.
The simulation times varied significantly between the simulation cases, making it difficult to conclude the software and model performances reliably. Simscape model simulation times were on average 17 \% shorter than the Amesim model simulation times when both crane models had IMU (Inertial Measurement Unit) models included. For comparison, in the case where the Amesim model did not have the IMU models, the Amesim model simulation times were on average 31 \% shorter than the Simscape model simulation times.