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The gear ratio based on angular velocity and is

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the gear ratio based on angular velocity, and is specified by thealternative container shown above, in Fig.7.During simula-tion model synthesis either an ideal Simulink controller can begenerated, or a Simulink model of the deployed control softwareimplementation using the TrueTime toolkit. The physicalTrans-missionmodel is also a design container as shown in Fig. 12.The automated design space exploration process selects one orthe other transmission for the final design. A model interpreterre-creates the test bench using parts selected from the availablealternatives.Realization of Simulation ModelsTo illustrate the generation process once a design candidatehas been selected, the following steps produce a Simulink simu-lation from a test bench model containing bond graph elements.A script is generated, which when run uses the Simulink API tocreate the model. The steps describe the order in which elementsare added to the generation script.1. In the target Simulink model, create the hierarchical struc-ture and elements (except Bond graph and ports) for themodel based on the hierarchical structure of the CyPhyMLdesign model.2. In CyPhyML, collect all Bond Graph elements for compo-nents in the design and create a flattened out bond graph inmemory. Bonds are resolved across the hierarchy.3. Create Bond Graph elements in Simulink for the model.4. Create power port elements in Simulink.5. Create signal ports in Simulink.6. Update the Simulink layout.7. Create connections between elements in Simulink.8. Add commands to open Simulink scopes automatically.9. Copy all referenced Matlab models into the output directory.These steps have been implemented in automated CyPhyMLmodel interpreters. A similar procedure creates composed Mod-elica models from a CyPhyML test bench. A few additions arerequired to create TrueTime models to evaluate the deployed con-troller implementations:1. The CyPhyML to ESMoL translator must be invoked to cre-ate the ESMoL deployment model.2. The ESMoL tools are run to create the controller sourcecode, schedule the tasks, and generate scripts to create theTrueTime models as described in [11].3. The TrueTime generation scripts are invoked by the bondgraph dynamics generation scripts, integrating the TrueTimecontroller models with the generated dynamics model inSimulink.Mobility SimulationA design candidate can also be evaluated in the context ofits expected operating environment using a mobility simulation.The mobility simulation exercises the vehicle in a 3D virtualworld and runs in real-time, giving the user the interactive expe-rience of driving this particular vehicle configuration over a spe-cific, detailed terrain. The simulation provides feedback on themaximum obstacle heights the vehicle can traverse, suspensionperformance over a given terrain, and power train performanceover a specific terrain. Delta3D is used as the 3D rendering en-gine and for management of 3D solid objects. Open Dynamics

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Term
Summer
Professor
N/A
Tags
Bond graph, ASME, CyPhyML

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