Multibody Approach for Model-Based Fault Detection of a Reel

2005 ◽  
Vol 1 (2) ◽  
pp. 116-122
Author(s):  
Pasi Korkealaakso ◽  
Asko Rouvinen ◽  
Aki Mikkola
Keyword(s):  
Fault Detection ◽  
Augmented Lagrangian Method ◽  
Contact Forces ◽  
Simulation Approach ◽  
Multibody Simulation ◽  
Friction Forces ◽  
Model Based ◽  
Time Simulation ◽  
Method Of Lagrange Multipliers ◽  
Signal Processing Methods

In order to improve the recognition of faulty situations, model-based fault detection can be used together with signal processing methods. In this study, faults and abnormalities of a reel are studied by employing the multibody simulation approach. The reel under consideration consists of a number of subsystems, including hydraulics, electrical drives, and mechanical parts. These subsystems are coupled by joints, friction forces, and contact forces. Using the multibody simulation approach, the complete model of the reel can be obtained by coupling different subsystems together. Three well-known multibody formulations, a method of Lagrange multipliers, an Augmented Lagrangian method, and a method based on projection matrix R, are briefly described and compared in order to find out the most efficient method for simulating the studied reel. Although this study is focused on the simulation of fault scenarios, the introduced multibody simulation approach can be utilized in real-time simulation. This makes it possible to apply the model to an existing reel.

Multibody Simulation Formulations in Fault Diagnosis of a Reel

2005 ◽  
Author(s):  
Pasi Korkealaakso ◽  
Asko Rouvinen ◽  
Aki Mikkola
Keyword(s):  
Fault Diagnosis ◽  
Augmented Lagrangian ◽  
Augmented Lagrangian Method ◽  
Contact Forces ◽  
Simulation Approach ◽  
Multibody Simulation ◽  
Friction Forces ◽  
Electrical Drives ◽  
Method Of Lagrange Multipliers ◽  
Signal Processing Methods

In order to improve the recognition of faulty situations, the model-based fault diagnosis can be used together with signal processing methods. In this study, faults and abnormalities of a reel is studied by employing the multibody simulation approach. The reel under consideration consists of a number of subsystems including hydraulics, electrical drives and mechanical parts, which are coupled by joints, friction forces and contact forces. Using the multibody simulation approach, the complete model of the reel can be obtained by coupling different subsystems together. Three well-known multibody formulations, a method of Lagrange multipliers, an Augmented Lagrangian method and a method based on projection matrix R, are briefly described and compared in order to find out the most efficient method for simulating the studied reel. It is noteworthy, that the method based on an Augmented Lagrangian formulation is also capable of real-time fault diagnosis of a reel.

Real-Time Simulation of Flexible Multibody Models

2016 ◽  
Author(s):  
William Prescott
Keyword(s):  
Real Time ◽  
Simulation Approach ◽  
Multibody Simulation ◽  
Time Step ◽  
Real Time Simulation ◽  
Time Simulation ◽  
Joint Forces ◽  
Rigid Model ◽  
Modal Coordinates ◽  
Flexible Model

This paper will look at how to include flexible modes into a real-time multibody simulation. The approach proposed in this paper is to divide the equations into two separate systems: rigid and flexible, which are then co-simulated by two separate integrators. After the flexible equations are integrated at each time step the modal coordinates are used to update the joint and force attachment locations in the rigid model then the joint forces from the rigid model are fed to the flexible model. This approach essentially means a new rigid model is solved at each time step. The use of a co-simulation approach will also allow separate processors to be used for the flexible and rigid equations.

scholarly journals Slipping–rolling transitions of a body with two contact points

2021 ◽  
Author(s):  
Mate Antali ◽  
Gabor Stepan
Keyword(s):  
Rigid Body ◽  
Contact Point ◽  
Static Friction ◽  
Rigid Body Dynamics ◽  
Contact Forces ◽  
Friction Forces ◽  
Contact Points ◽  
Body Dynamics ◽  
Coulomb Model ◽  
Rigid Surfaces

AbstractIn this paper, the general kinematics and dynamics of a rigid body is analysed, which is in contact with two rigid surfaces in the presence of dry friction. Due to the rolling or slipping state at each contact point, four kinematic scenarios occur. In the two-point rolling case, the contact forces are undetermined; consequently, the condition of the static friction forces cannot be checked from the Coulomb model to decide whether two-point rolling is possible. However, this issue can be resolved within the scope of rigid body dynamics by analysing the nonsmooth vector field of the system at the possible transitions between slipping and rolling. Based on the concept of limit directions of codimension-2 discontinuities, a method is presented to determine the conditions when the two-point rolling is realizable without slipping.

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