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Mechatronic Systems Modelling and Simulation with HDLs Georg Pelz Infineon Technologies, Munich, Germany Translated by Rachel Waddington Member of the Institute of Translation and Interpreting First published under the title Modellierung und Simulation mechatronischer Systeme — vom Chip zum Systementwurf mit Hardwarebeschreibungssprachen  Hüthig-Verlag, Heidelberg, 2001 All Rights reserved Authorized translation from German language edition published by Hüthig-Verlag Copyright  2003 John Wiley & Sons Ltd, The Atrium, Southern Gate, Chichester, West Sussex PO19 8SQ, England Telephone (+44) 1243 779777 Email (for orders and customer service enquiries): cs-books@wiley.co.uk Visit our Home Page on www.wileyeurope.com or www.wiley.com All Rights Reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, scanning or otherwise, except under the terms of the Copyright, Designs and Patents Act 1988 or under the terms of a licence issued by the Copyright Licensing Agency Ltd, 90 Tottenham Court Road, London W1T 4LP, UK, without the permission in writing of the Publisher. Requests to the Publisher should be addressed to the Permissions Department, John Wiley & Sons Ltd, The Atrium, Southern Gate, Chichester, West Sussex PO19 8SQ, England, or emailed to permreq@wiley.co.uk, or faxed to (+44) 1243 770620. This publication is designed to provide accurate and authoritative information in regard to the subject matter covered. It is sold on the understanding that the Publisher is not engaged in rendering professional services. If professional advice or other expert assistance is required, the services of a competent professional should be sought. Other Wiley Editorial Offices John Wiley & Sons Inc., 111 River Street, Hoboken, NJ 07030, USA Jossey-Bass, 989 Market Street, San Francisco, CA 94103-1741, USA Wiley-VCH Verlag GmbH, Boschstr. 12, D-69469 Weinheim, Germany John Wiley & Sons Australia Ltd, 33 Park Road, Milton, Queensland 4064, Australia John Wiley & Sons (Asia) Pte Ltd, 2 Clementi Loop #02-01, Jin Xing Distripark, Singapore 129809 John Wiley & Sons Canada Ltd, 22 Worcester Road, Etobicoke, Ontario, Canada M9W 1L1 Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be available in electronic books. Library of Congress Cataloging-in-Publication Data Pelz, Georg, 1962[Modellierung und Simulation mechatronischer Systeme. English] Mechatronic systems : modelling and simulation with HDLs / George Pelz. p. cm. Includes bibliographical references and index. ISBN 0-470-84979-7 (alk. paper) 1. Mechatronics. 2. Computer hardware description languages. I. Title. TJ163.12.P4513 2003 621–dc21 2002192433 British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library ISBN 0-470-84979-7 Typeset in 10.5/13pt Times by Laserwords Private Limited, Chennai, India Printed and bound in Great Britain by Antony Rowe Ltd, Chippenham, Wiltshire This book is printed on acid-free paper responsibly manufactured from sustainable forestry in which at least two trees are planted for each one used for paper production. Contents Preface xi 1 Objective and Motivation 1 1.1 Introduction 2 Principles of Modelling and Simulation 1 5 2.1 Introduction 5 2.2 Model Categories 8 Fields of Application 9 2.3.1 9 2.3 2.4 2.5 2.6 2.7 Introduction 2.3.2 Bottom-up design 9 2.3.3 Top-down design 10 2.3.4 Relationship of design strategies to modelling 12 2.3.5 Modelling for the specification 12 2.3.6 Modelling for the design 13 Model Development 14 2.4.1 Introduction 14 2.4.2 Structural modelling 16 2.4.3 Physical modelling 18 2.4.4 Experimental modelling 20 Model Verification and Validation 24 2.5.1 Introduction 24 2.5.2 Model verification 24 2.5.3 Model validation 27 Model Simplification 32 Simulators and Simulation 33 2.7.1 Introduction 33 2.7.2 Circuit simulation 33 2.7.3 Logic simulation 34 2.7.4 Multibody simulation 35 2.7.5 Block diagram simulation 36 CONTENTS vi 3 2.7.6 Finite element simulation 36 2.7.7 Software simulation 36 2.8 Summary 37 Modelling and Simulation of Mixed Systems 39 3.1 Introduction 39 3.2 Electronics and Mechanics 40 3.2.1 Introduction 3.2.2 Analogies 41 3.2.3 Limits of the analogies 43 3.2.4 Differences between electronics and mechanics 44 3.3 Model Transformation 45 3.3.1 Introduction 3.3.2 Circuit simulation 45 3.3.3 Logic/Petri net simulation 47 3.3.4 Multibody simulation 50 3.3.5 Finite-element simulation 51 3.3.6 Evaluation of the model transformation 51 3.4 Domain-Independent Description Forms 45 52 3.4.1 Bond graphs 52 3.4.2 Block diagrams 54 3.4.3 Modelling languages for physical systems 55 3.4.4 Evaluation of domain-independent description forms 57 3.5 Simulator Coupling 4 40 58 3.5.1 Introduction 58 3.5.2 Simulator backplane 58 3.5.3 Examples of the simulator coupling 60 3.5.4 Evaluation 62 3.6 Summary 62 Modelling in Hardware Description Languages 63 4.1 Introduction 63 4.2 Fields of Application 65 4.2.1 Formulation of specification and design 65 4.2.2 Validation of specifications and verification of designs 65 4.2.3 Automatic synthesis 66 4.3 Characterisation of Hardware Description Languages 66 4.4 Languages 68 4.5 Modelling Paradigms 69 CONTENTS vii 4.5.1 Introduction 69 4.5.2 Structural and behaviour-oriented modelling 70 4.5.3 Digital modelling 71 4.5.4 Analogue modelling 74 4.6 Simulation of Models in Hardware Description Languages 79 4.7 Summary 81 5 Software in Hardware Description Languages 83 5.1 Introduction 83 5.2 Simulation of Hardware for the Running of Software 85 5.3 Co-simulation by Software Interpretation 85 5.4 5.5 Co-simulation by Software Compilation 88 5.4.1 Introduction 88 5.4.2 Software representation 89 5.4.3 Synchronisation 90 5.4.4 Example of software modelling 92 5.4.5 Debugging of software 98 Summary 6 Mechanics in Hardware Description Languages 6.1 Introduction 6.2 Multibody Mechanics 6.3 6.4 7.2 99 99 100 6.2.1 Introduction 100 6.2.2 System-oriented modelling 104 6.2.3 Object-oriented modelling 108 6.2.4 Example: wheel suspension 111 6.2.5 Further applications 113 Continuum Mechanics 115 6.3.1 Introduction 115 6.3.2 Structural modelling 116 6.3.3 Physical modelling 125 6.3.4 Experimental modelling 130 Summary 7 Mechatronics 7.1 98 132 135 Modelling of Mechatronic Systems 135 Demonstrator 1: Semi-Active Wheel Suspension 136 7.2.1 136 System description 7.2.2 Modelling of software 138 CONTENTS viii 7.2.3 Modelling of mechanics 139 7.2.4 Simulation 140 7.3 Demonstrator 2: Internal Combustion Engine with Drive Train System description 143 7.3.2 Modelling 145 7.3.3 Simulation 147 7.4 Demonstrator 3: Camera Winder 7.4.1 Introduction 148 System description 148 7.4.3 Modelling 148 7.4.4 Simulation 152 152 7.5.1 Introduction 7.5.2 The disk drive 153 7.5.3 Circuit development for disk drives 154 152 7.5.4 The virtual disk drive 157 7.5.5 System modelling 158 7.5.6 Simulation and results 159 7.5.7 Conclusion 160 7.5.8 Acknowledgement 161 7.6 Summary 161 Micromechatronics 163 8.1 Modelling Micromechatronic Systems 163 8.1.1 Introduction 163 8.1.2 Component design 164 8.1.3 System design 165 8.2 Demonstrator 5: Capacitive Pressure Sensor 9 148 7.4.2 7.5 Demonstrator 4: Disk Drive 8 143 7.3.1 166 8.2.1 System description 166 8.2.2 Modelling 168 8.2.3 Simulation 176 8.3 Demonstrator 6: Micromirror 182 8.3.1 System description 183 8.3.2 Modelling 183 8.3.3 Simulation 186 8.4 Summary 186 Summary and Outlook 187 Literature 189 CONTENTS ix Appendix 217 Index Symbols 217 Abbreviations 220 Registered Trademarks 220 221 This Page Intentionally Left Blank Preface Most of this work came into being during my employment at the Chair for Electron Devices and Circuits in the Electronics Engineering department of the GerhardMercator University, Duisburg. Section 7.5 covers material that I have worked on for my current employer, Infineon Technologies. At this point I would like to express my gratitude for the support that I received from many sides. My special thanks go to Prof. Dr. G. Zimmer, in whose department I was able to work continuously for many years on the subject of this book, and who helped me in many ways in the process. Moreover, I would like to thank Prof. Dr. M. Glesner for his support of the work. I would also like to thank my colleagues at the Gerhard-Mercator University, Duisburg, the Fraunhofer Institut IMS and Infineon Technologies, who provided a great deal of assistance in the form of discussions and suggestions during the preparation of the book. The following in particular should be mentioned: Dr. J. Bielefeld, Dr. M. Leineweber, Dipl.-Ing. A. Lüdecke and Dipl.-Ing. L. Voßkämper. Apart from the technical side, I would like to express my thanks to Tilmann Leopold. Last, but not least, I thank my family for their encouragement and support during the composition of this book. Ebersberg, January 2003 Georg Pelz (Georg.Pelz@onlinehome.de)