FluidSIM by Festo is the closest competitor. Festo offers a free limited version for students that covers hydraulics and pneumatics. It does not have the electrical depth of Automation Studio, but for basic circuit design, it works well.
If you absolutely need free software and cannot get a license, consider these legitimate open-source tools for learning fluid power concepts: automation studio 71 free
To successfully install and run Automation Studio 7.1, the following minimum specifications are generally recommended: FluidSIM by Festo is the closest competitor
If the budget for a commercial license (which can run into thousands of dollars depending on the configuration) is unavailable, engineers and students have better options than piracy: but for basic circuit design