USING AUTOMATIONML TO DESCRIBE THE DYNAMIC BEHAVIOR OF A PRODUCTION SYSTEM

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1 USING AUTOMATIONML TO DESCRIBE THE DYNAMIC BEHAVIOR OF A PRODUCTION SYSTEM Gothenburg Jannis Stecken, Dr.-Ing. Matthias Bartelt,Prof. Dr.-Ing. Bernd Kuhlenkötter (Ruhr-Universität Bochum), Dr.-Ing. Anton Strahilov (EKS InTec GmbH)

2 TWh WHERE DO WE COME FROM? Gross electricity generation from renewable source EU Hydro power Wood & Other solid biomass Biogas & Bioliquids Wind power Solar power Geothermal Renewable wastes Electricity generation from RE with normalised hydro and wind Jannis Stecken Chair of Production Systems - Ruhr-Universität Bochum 2

3 WHAT ARE THE CONSEQUENCES? Production systems must become more energy-efficient Minimizing energy consumption Reduce peak loads Minimize energy costs Production systems must react to renewable energies Make dynamic changes Adopt to available energy Adopt to electricity price Jannis Stecken Chair of Production Systems - Ruhr-Universität Bochum 3

4 HOW DO SOLVE THE PROBLEM? Layout optimization Cycle optimization Production planning and control optimization Jannis Stecken Chair of Production Systems - Ruhr-Universität Bochum 4

5 ITEA-PROJECT Smart Prognosis of Energy with Allocation of Resources Duration: 09/ / Partners from Germany, Spain, Sweden and Turkey Coordinator: EKS InTec GmbH (Germany) Jannis Stecken Chair of Production Systems - Ruhr-Universität Bochum 5

6 SPEAR ARCHITECTURE Energy Model Database Configuration Assistant Simulation Environment Optimization Platform Optimization Algorithms Data Acquisition Reality Simulation Connector Jannis Stecken Chair of Production Systems - Ruhr-Universität Bochum 6

7 SIMULATION CONFIGURATION Gripper Models IRL RobotCode? Simulation Environment Robot Gripper Robot RRS Controller RRS Controller IRL RobotCode Jannis Stecken Chair of Production Systems - Ruhr-Universität Bochum

8 MODEL CONFIGURATION WITH AML Robot Gripper AMLX-Container RRS Controller IRL RobotCode Robot Gripper IRL RobotCode RRS Controller Jannis Stecken Chair of Production Systems - Ruhr-Universität Bochum 8

9 MODEL CONFIGURATION WITH AML Models are created abstractly in AutomationML Implementation of the standards as SystemUnitClass Creation of RoleClasses for the identification of the models by the Simulation Environments Models can be imported via the configurator and an InternalElement will be automatically created Variables of the will be automatically included in the InternalElement of the model Original file will be referenced in the InternalElement Linking of the models can be excecuted AMLX container will be exported with the AML configuration file and the corresponding models Jannis Stecken Chair of Production Systems - Ruhr-Universität Bochum 9

10 TRANSFER TO THE SIMULATION ENVIRONMENT AMLX-Container Robot Operating Sytem (ROS) Robot Gripper IRL RobotCode Node Node Master Node RRS Controller Node Jannis Stecken Chair of Production Systems - Ruhr-Universität Bochum 10

11 REALISTIC ROBOT SIMULATION Realistic Robot Simulation (RRS) Server-Client Architecture Robot Controller Simulation (RCS) modules are provided by the controller manufactures INITIALIZE SET_INITIAL_POSITION SET_NEXT_TARGET GET_NEXT_STEP RRS- Client RCS- Module TERMINATE Jannis Stecken Chair of Production Systems - Ruhr-Universität Bochum 11

12 -IMPLEMENTATION Axis1 Axis2 Axis3 Axis4 Axis5 Axis6 Psum Jannis Stecken Chair of Production Systems - Ruhr-Universität Bochum 12

13 RRS-IMPLEMENTATION Jannis Stecken Chair of Production Systems - Ruhr-Universität Bochum 13

14 MODEL-CONNECTION Jannis Stecken Chair of Production Systems - Ruhr-Universität Bochum 14

15 CONCLUSION AND FUTURE WORK Production Systems have to adopt to renewable energy The SPEAR project will develop an optimization platform Model configuration for the Co-Simulation is excecuted with AutomationML Integrate other Roboter simulation tools like ABB RobotStudio, Gazebo or EKS Robsim Provide other possibilities for integrating robot program code Provide the configuration assistant as a web service Jannis Stecken Chair of Production Systems - Ruhr-Universität Bochum 15

16 Thank you for your kind attention! Any questions? Jannis Stecken / This project is funded by the Federal Ministry of Education and Research (BMBF) under the grant number 01IS17024F Chair of Production Systems Ruhr-Universität Bochum Universitätsstr Bochum, Germany Jannis Stecken Chair of Production Systems - Ruhr-Universität Bochum 16