Creating an Integrated Model of a Technical System with Use of the Mechatronic Features

In the work the description of the creation way of an integration of the virtual model with the virtual controller was presented. In order to integrate the control system with the executive subsystem, a method of defining mechatronic features (MOE) has been proposed, which refer to the drive along with its operation logic as a set of objects, consisting of objects such as: functional features (FOE), coupling relations (RSF) between FOE, sensory features (SEOE), feedback relations (RSFSE) between FOE and SEOE, signal features SOE, a transformation relation (RPM) associated with a given MOE. The work describes the process of creating the integrated model in relation to the Stewart platform, which is the main executive element of the car driving simulator for people with mobility dysfunctions. The 3D model of the considered system was created in the MOE description in the Siemens NX PLM software environment. The virtual controller was prepared with use of B&R Automation Studio software. The OPC server is the integrator that allows to simulate the mechatronic function of the system. In the considered case, the OPC server enables the exchange of an information between the 3D model in the MOE description and the virtual controller using SOE. The developed way of integrating the virtual machine model with the virtual controller allows to minimize the risk of malfunctioning of the real system. The presented methodology allows creating the integrated model in the control context, using various programming environments, however, both the geometrical form of the model and the control algorithm can be changed constantly.