implementation of a real time gt-power model for hil ...maintain in simulink it is proposed to...
TRANSCRIPT
![Page 1: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/1.jpg)
Cummins Inc.
Implementation of a Real Time GT-POWER model
for HIL Simulation
Manik NarulaCherian Olikara
Cummins Inc.Nov 15, 2005
![Page 2: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/2.jpg)
Cummins Inc.
System Simulation� Cummins uses an internally developed tool for system simulation
with capability for:� Pure Simulation� Hardware In the Loop Simulation (HILS)
� Used primarily for controls development and hardware testing
� Models are built in MATLAB / Simulink� Executes in native Simulink or in compiled mode
� HILS is by nature real-time and the available computing power imposes constraints on the complexity of the models used� Typically requires mean value engine models
![Page 3: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/3.jpg)
Cummins Inc.
HIL Simulation Overview
VehicleModel
EngineModel
ECMModel
OperatorModel
� Controller in Loop Simulation� Real engine controller with models of engine, vehicle and
operator
![Page 4: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/4.jpg)
Cummins Inc.
Need� Diesel engine air handling system topologies are
becoming very complex and more difficult to build / maintain in Simulink
� It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both pure simulation and real-time HILS
� Advantages� More continuity between engine cycle simulation and
engine system simulation� Arbitrarily complex air handling systems can be built� Simpler model calibration processes
![Page 5: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/5.jpg)
Cummins Inc.
Requirements� GT-POWER Model Execution Time
� Need to run faster than real time on current technology computers (to leave CPU cycles for other processes in the system simulation)
� Mean value cylinder model� Simplified 1-D wave dynamics� Eliminated disk I/O� Optimize computations for speed
� Simulink interface� Interface GT-POWER engine model with rest of the model in Simulink� Typically S-functions
� Execute under the target operating system� GNU/Linux (2.6 kernel) with real-time extensions
![Page 6: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/6.jpg)
Cummins Inc.
Model WorkflowDetailed GTP Cycle Simulation model
Reduced Mean value GTP model
Interface GTP S-function with CyberApps
Generate C code
Engine Test DataGT-Power
SimulinkCompile & execute on test bench
*.DAT file created by GTP is passed to Simulink
![Page 7: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/7.jpg)
Cummins Inc.
Model Workflow contd..
Detailed GTP Cycle Simulation model
Reduced Mean value GTP model
Air Handling simplification
Cylinder model simplification
![Page 8: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/8.jpg)
Cummins Inc.
Case Study:2-Stage, intercooled and
aftercooled 16 cylinder engine
![Page 9: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/9.jpg)
Cummins Inc.
Air Handling Simplification� Combine pipes and flow splits to form bigger volumes
� This makes the code to take bigger time steps
� Conserve volume � Example: simplified exhaust manifold volume should be the
same as detailed GT-Power model
� Maintain surface area of critical components for heat transfer� All the coolers� Exhaust manifold
� Maintain same turbine/compressor inlet/exit area
![Page 10: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/10.jpg)
Cummins Inc.
Reduced Model
![Page 11: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/11.jpg)
Cummins Inc.
Mean Value Cylinder model� MVCM essentially contains map based cylinder model that is
computationally faster (max time step:20 CAdeg) than a regular cylinder model (max time step:1 CAdeg)
� Three maps define the cylinder performance� Net indicated efficiency � Volumetric efficiency� Exhaust energy fraction
� Neural Network tool is used to develop maps� User defines the dependencies and data to train the neural
network (NN)� An automated NN tool is used in GTP
![Page 12: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/12.jpg)
Cummins Inc.
Neural Network training results� To prove the concept of MVEM,
engine test results were used � DOE on speed, fuel qty, main
timing, other variables (~600 points)
� Future plans: generate data from simulation of calibrated models
Operating Points
0
0.2
0.4
0.6
0.8
1
0 0.2 0.4 0.6 0.8 1
Engine Speed
To
rqu
e
ExhFracNieff
Experimental
NN
out
put
Experimental
NN
out
put
![Page 13: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/13.jpg)
Cummins Inc.
Implementation in GTP
Mean Value cylinder
Neural Network object
![Page 14: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/14.jpg)
Cummins Inc.
Simulink interface in GTP
Signals from GTP to Simulink
Signals from Simulink to GTP
At this point .dat file is created using GT-Power
This dat file acts as an input to the CyberApps model
![Page 15: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/15.jpg)
Cummins Inc.
GTP S-function in Simulink
• GTP S function is interfaced to CyberApps
• C Code is generated
![Page 16: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/16.jpg)
Cummins Inc.
Real Time test system interface
HILS : Results
� C code generated from Simulink is compiled under Linux to generate an executable
� On 2.4 GHz Pentium 4 processor, ~ 60% CPU utilization under steady state, ~ 80% CPU under transients (actuals would depend on complexity of model)
![Page 17: Implementation of a Real Time GT-POWER model for HIL ...maintain in Simulink It is proposed to replace the existing engine models built in Simulink with those in GT-POWER for both](https://reader034.vdocuments.site/reader034/viewer/2022042104/5e82558f97f4de4bce03ddfb/html5/thumbnails/17.jpg)
Cummins Inc.
HILS: Results Comparison
Intake Manifold Pressure
60
70
80
90
100
A B C
% R
efer
ence
Experimental
GTP_Detailed
GTP_RealTime
Turbo Speed
60
70
80
90
100
A B C
% R
efer
ence
Experimental
GTP_Detailed
GTP_RealTime
Engine Torque
80
85
90
95
100
A B C
% R
efer
ence
Experimental
GTP_Detailed
GTP_RealTime
Air to Fuel Ratio
60
70
80
90
100
A B C%
Ref
eren
ce
Experimental
GTP_Detailed
GTP_RealTime
� Experimental / GT-POWER detailed / GT-POWER real-time� Engine speed and fueling imposed on the models � 3 different steady state operating conditions (A, B, C)