Page 6 - Mechatronic Systems Modelling and Simulation with HDLs

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 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
5.5 Summary 98

6 Mechanics in Hardware Description Languages 99
6.1 Introduction 99
6.2 Multibody Mechanics 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
6.3 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
6.4 Summary 132

7 Mechatronics 135
7.1 Modelling of Mechatronic Systems 135
7.2 Demonstrator 1: Semi-Active Wheel Suspension 136
7.2.1 System description 136
7.2.2 Modelling of software 138