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EUROSYSLIBOverview of Project Achievements
July 9, 2010
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EUROSYSLIB project & consortium in 1 slide
● Initiated by Dassault Systèmes& DLR
● 2.75 Years DurationOct. 2007 – June2010
● 19 Partners
● 100 person years effort
● 16 Mill. € total budget
● 8 Work Packages
● 32 Sub Work Packages
Companies Research & Universities
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EUROSYSLIB main objectives
How to manage increasing complexity, time to market, product quality in future products and systems ?
EUROSYSLIB answer Design, optimize, check as early as possible
the behavior of a future product in a virtual environment with a multi-disciplinary teamo Reduce cost and increase productivityo Meet the relevant specificationo Deliver against expectation for users
Concurrently optimize the product dynamicbehavior and the geometric constraints in thesame framework(= digital mockup with behavior)
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EUROSYSLIB Major Outcomes
● Extensions of the Modelica Language● A large set of high-value, innovative modeling and simulation libraries● Integration of Modelica in Dassault Systèmes tools “CATIA”, “ENOVIA”
in LMS Imagine tool “AMESim”● Improvement of Dynasim tool “Dymola”
of INRIA tool “Scicos”● Interface between Dassault Systèmes tool “SIMULIA” and Modelica env. ● Investigate topics as :
○ Data persistency○ Multi target platforms○ Hybrid systems○ Library protection ○ Dysfunctional / Safety analysis and Modelica
Exploitation
● 13 open source and 18 commercial Modelica libraries.
● 8 of these libraries are already released and areavailable for end customers.
● Distribution channels agreed for 70 % of these libraries:Open source: Modelica AssociationCommercial : Dassault Systèmes, LMS, Bausch-Gall, Claytex.
● 13 commercial software enhancements are developed(distribution in the products of Dassault Systèmes and of LMS)
Standardization
● Standardization of EUROSYSLIB language developments performed viaModelica Association (international non-profit org. founded in 2000)Modelica 3.1 – May 2009Modelica 3.2 – March 2010
● 10 major extensions proposed and released (and several minor)
● Dymola : nearly all extensions are already supported.AMESim : some extensions are already supported.CATIA DBM: some extensions are already supported and
all will be supported in future versions.
● In EUROSYSLIB: Guidelines for Library Development
Dissemination
● 40 conference articles
● 10 presentations (without articles)
● 2 fairs (FISITA'2008, AUTOMATICA'2010) + 2 ITEA Symposia
● 2 web sites (EUROSYSLIB, Modelica Association)
● After project end:
○ Webinars to present widely the outcomes (Europe, Asia, US )
○ DS plans to host an open Modelica community platform
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Technical Achievements
WP2 – Library InfrastructureWP3 – Mechanical SystemsWP4 – Electrical and Electronics SystemsWP5 – Thermo-Fluids SystemsWP6 – Control SystemsWP7 – Properties and Safety ModelingWP8 – Vehicle Systems
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WP2 - Library Infrastructure
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Library Infrastructure
Sub work-packages2.1 Parametric Modeling
2.2 Advanced Library Techniques
2.3 Library Integration in DS V6
2.4 Fluid Library Integration in DS V5 CFD
2.6 Design Optimization
2.7 Library Protected Exchange Techniques
ObjectivesImprove significantly the infrastructure for Modelica by integrating Modelica inCATIA, AMESim, CFD, and by improving Modelica and Modelica tools tofulfill the needs of EUROSYSLIB libraries
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Parametric Modeling - DS
Breakthroughs ● Link with knowledgeware infrastructure
(parameters, formulas, design table) allows integration with many other V6 applications
Validation ● Import, simulate in V6 and
compare results with Dymola
CommercialSoftware
Cross industry
Features ● Link Modelica model parameters to parameters
exposed in ENOVIA V6 with knowledgeware(3D Shapes, design tables,…).
● Mechanism works in both directions:● parameterize a CAD model
from a Modelica parameter● set Modelica parameter with
parameter from a CAD model● Complete mapping between
Modelica.SIunits (3.1) and knowledge types
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Parametric Modeling - LMSFeatures ● View and use of Modelica
libraries● Modelica Import Assistant● Modelica Assembly● Detection and resolution of
structural parameters● Groups of parameters and
variables● Viewing of parameter data in
AMESim html browser● Import/export of Modelica
parameter data using AMESim parameter sets
Breakthroughs ● Time-domain & Frequency-domain● Causal & Acausal modeling
Validation ● Results
comparison with standard AMESim & LMS Imagine.Lab Libraries
CommercialSoftware
Cross industry
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Advanced Library TechniquesFeatures ● Extending Dymola to support library development● Solve problems arising in other sWPs
Breakthroughs ● Reliable handling of bi-directional thermo-fluid flow (stream connectors) ● Solve differentiation problems to support SPICE3 circuit modeling● Support for real-time version of FlexibleBodies library● Support for sparse Jacobian handling
(large Siemens fluid benchmark runs 22 times faster now)● Support for homotopy-operator for improved initialization
(power plant with 300 iteration variables initializes now without accurate guesses)● and more…
Commercial
Cross industrySoftware
Open Source
Language
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Modelica Fluid lib - Advance lib techniques
Features ● Medium models are separated from
fluid models● Dynamic and steady-state simulation● Additional trace substances can be
easily added to each medium ● Treatment of connection points as high-index
DAE (as opposed to algebraic loops)● Object-oriented (e.g. replaceable flow and
heat transfer models)
Breakthroughs ● First Modelica standard for Thermo-Fluid● New stream connectors provide powerful basis
for object-oriented fluid modeling● Broad coverage of use cases:
dynamic, steady-state and inverse calculations.
Validation ● Eurosyslib WP5 (Thermo-Fluid)
Cross industryLibrary Open Source
tank
level =
1
pump
valve
sensor_m_flow
m_flow
T_ambi...
T=syst...K
wall
G=1.6e...
burner
Q_flow =1.6e3
system
gdefaults
heaterheater
radiatorradiator
T
sensor_T_for...
T
sensor_T_ret...
handle
startTime...
pipepipe
m_flow T_forw ard
T_return
tankLevel
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Libs integration in DS V6 infra.
Breakthroughs ● Concurrent management of PLM and
Modelica versioning system
Validation ● Validation done using the existing
commercial Moelica libraries
CommercialSoftware
Cross industry
Features • Import Modelica libraries ((including external
resources) to ENOVIA V6• Persistency model for Modelica libraries & models in
ENOVIA V6:• Transparent loading/unloading of Modelica
libraries/models• Mechanisms for navigating on links and for
management of impacts between Modelica libraries/models
• Cut/Copy/Paste for class and components• Export to .mo, moe or 3DXML• Editability , People & Organization business rules • Modelica/ENOVIA versioning management• Migration scripts support
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Libs integration in DS V6 infra.Features ● LMS Libraries compatible with DS V6● Possibility to store the Imagine.Lab models within
a Modelica format ● Properties (metadata) associated to models in
Imagine.Lab available for DS V6 through an API or scripting.
Breakthroughs ● Metadata (author, date, image, …) defined closer
to the design phase, available for the Simulation Data Management (SDM) tool
● Experiments: proper integration in a SDM, storing the model separately from parameter/results
Validation ● Integration of a LMS
Modelica Library in DS V6
CommercialSoftware
Cross industry
Properties
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Fluid in V5-CFD – Weak Coupling
Features ● Import of CFD data into a system-level
model through interpolating splines● 1D, 2D and ND interpolation lookup tables● Piecewise-constant, multi-linear or multi-
cubic splines● Partial derivatives evaluation for index
reduction● Different boundary conditions allowed● Extrapolation splines
Breakthroughs ● Efficient handling of large lookup tables
(number of generated Modelica equations is independent of table size)
● Efficient handling of discontinuities through mixed Modelica-C approach
Validation ● Result comparison with
standard LMS Imagine.Lab numerical libraries
Commercial
Cross industryLibrary
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Fluid in V5-CFD – Strong CouplingFeatures ● Co-simulation between 3D CFD
software and AMESim-Modelica system-level simulator
● Macro time step scheduling for better stability-performance trade-off
Breakthroughs ● Co-simulation methodology● Specification of Modelica external
connectors for connecting with causal simulators
Validation ● Comparison with LMS
Imagine.Lab AMESim HCD model and with Bosch experimental results
CommercialSoftware
Cross industry
Features● Significantly enhanced version of the
existing Modelica Design Optimization library● GUIs for different optimization tasks
● Expanded library for optimization criteria● Enhanced numerical sensitivity analysis
for more reliable optimization
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Design Optimization
Breakthroughs ● Nonlinear model predictive control
(solving nonlinear optimization problemsat every sample time of a controller).
● Periodic steady state initialization,e.g., of electrical converters
Validation ● Comparison with Matlab-Mops results
Commercial
Cross industryLibrary
25.0 27.5 30.09
10
11
12
13
14
15
16
17
18
[A]
voltageSensor.v
inductor.i
Periodic solution:
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Library IP ProtectionFeatures ● New techniques to support library protection● Standardized in Modelica
Breakthroughs ● Standardized Modelica annotations for
library protection and licensing● Included in Modelica 3.2 (March 24, 2010)● Implementation in Dymola
Validation ● By library developers
Cross industry
type Access = enumeration(hide, showIcon, showDocumentation, showDiagram, showText, duplicate);
annotation(Protection(access = Access.showDocumentation));annotation(Protection(nestedAccess = Access.showDocumentation));
package MyLibraryAuthorization_Dymolaannotation(Authorization(
libraryKey="15783-A39323-498222-444ckk4ll",licensor ="Organization A\nRoad, Country",License(licensee="Organization B, Mr.X", id ="lic:1269"),License(licensee="Organization C, Mr. Y", id ="lic:511",
expirationDate="2010-06-30"),License(licensee="Organization D, Mr. Z", id ="mac:0019d2c9bfe7")
));end MyLibraryAuthorization_Dymola;
Commercial
Software
Open Source
Language
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Library IP Protection Features ● IP protection
based onsource encryption
● License information attached to encrypted models
Breakthroughs ● Standardized scheme● Enables acausal
models to be safely exchangedwhile preserving the power of symbolicoptimizations done by the compiler
Validation ● Integrated within AMESim
Commercial
Cross industrySoftwareLanguage
Encryption[*.moe]
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WP3 - Mechanical Systems
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Mechanical Systems
ObjectivesEnhance the modeling of mechanical systems in Modelica to come closer to the market leaders in the multi-body area (ADAMS, LMS-Virtual.Lab Motion, RecurDyn, SIMPACK, ...).
Sub work-packages3.1 MultiBody Library
3.2 Multi-field Library
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Features ● Automatic transformation of CATIA kinematics
model in to Modelica multi-body model
CATIA Modelica
Breakthroughs ● Automatic usage of CAD-models
in Modelica system simulation● Multi-body simulation of CATIA models● Handling of overdetermined
multi-body models in Modelica
Validation ● Evaluated in use cases● Segway demonstrator developed
CommercialSoftware
Cross industry
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FeaturesIntegration of DBM (behavior) and 3D shapes:● Position the 3D within the DBM behavior
(Modelica model) by mapping geometric information (axis systems) with Modelica “frames”
● Animate the 3D Shape corresponding to the DBM behavior
● Retrieve necessary information from 3D to compute inertias, center of mass, mass…
Breakthroughs ● Accurate positioning in 3D● Physical properties directly read from 3D
Validation ● Manual tests against
requirements / specifications
CommercialSoftware
Cross industry
Support multi-body dynamics in V6
Multi-field Library Features ● SIMULIA Finite-Element Body
→ order-reduced Modelica flexible body● Flexible bodies with distributed forces
(for multi field coupling)● Flexible bodies with rotational or cyclic symmetry
(high efficiency for fast rotating bodies)● Disc brakes
(thermo-elastic fields for plates)● Real-time capability for flexible bodies● Visualization of thermo-elastic fields
Breakthroughs ● Complete process for system
simulation of flexible bodies:CATIA → SIMULIA (FE) → Modelica
● Efficient simulation of fast rotating thermo-elastic disc brakes
Validation ● Comparing results with
ANSYS and SIMPACK
CommercialLibrary Software
Cross industry
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WP4 - Electrical and Electronics Systems
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Sub work-packages4.1 Electrical Analog Library
4.3 Electronics SPICE3 Library
4.4 Smart Electric Drives Library
4.5 Electro Mechanical Actuators Lib
ObjectivesEnhancement of electronic MSL libraries
Leadership in controlled electrical machines modeling
Coming closer to electronic circuit simulation
Increased application of Modelica to electro magnetic/mechanical modeling
Electrical and Electronics Systems
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Electrical Analog Library Features ● Adding more complex models
(OpAmp detailed, M_Oline, Zener diode, thyristor, Triacarc models)
● Improvement of existing models(performance)
● Thermo-Electric coupling● Published in actual MSL releases
Breakthroughs ● Enlarged area of application
(thermo-electric simulation, new models)
● Improved performance
Validation ● Report Dassault Aviation:
further device models necessary● Tested by Modelica community
Cross industryLibrary
ground
L=2e-6
L
simpleTriac
ulseCurrent
Open Source
31
Electronics Spice 3 Library Features ● Implementation of SPICE3 device model
subset (basic models, sources, MOS level1bipolar, diode, semiconductor resistor)in Modelica
● Modeling as close as possible to SPICE3● SPICE netlist translator to Modelica
Breakthroughs ● Opening Modelica to “true” electronics● SPICE source code transformed to
Modelica● Planned models provided● Netlist translator first version● Method found to implement sequential
device models to Modelica
Validation ● Many (about 1000) regression
tests against SPICE3● Minor validation by Schneider
Electric at the beginning
Software
Cross industryLibrary
Dymola SPICE3
Open Source
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Smart Electric Drives Library Features ● Design and optimization of a drive system● Design, investigation and optimization of
components, operation and control strategies● Investigation of transient and quasi stationary
behavior of the electric drive system● Investigation and optimization of energy flows
Breakthroughs ● The SmartElectricDrives Library is an
additional software tool specifically designed to support and ease simulations for electric drive applications with Modelica language
● The SmartElectricDrives Library eases the simulation and optimization of general purpose drive applications as well as high performance drive applications
Validation ● Modelica correctness tests (Dymola)● An improved model will validated and
compared with the corresponding results from a previous version of this model
● With AIT’s laboratory infrastructure it is possible to validate/optimize the virtual models directly, matching the simulation results with the measured values at the real component
Commercial
Cross industryLibrary Software
Library
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Electro Mechanical Actuators LibFeatures ● Enhanced content of Electric Motors library● Library covering industry most used electrical
actuator (DC machine, Induction machine, Synchronous machine, Brushless, control artefact)
● Electromagnetic actuators component design (magnetic coils, linear air gap with mechanical interfaces, material characteristics)
Breakthroughs ● Magnetic hysteresis and saturation● Models suitable for electrotechnicians
with electrical parameters● New opportunities to deal with default
machines
Validation ● Regression tests with LMS
Imagine.Lab libraries● Bibliography and cross
references
Commercial
Cross industry
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WP5 - Thermo-Fluids Systems
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Thermo-Fluids Systems
ObjectivesTo provide thermo-fluid libraries covering the whole range of operation domains of the modeled systems.
Sub work-packages5.1 Fluids & Thermo-hydraulics
5.2 Fluid Dissipation
5.3 Power Plants
5.4 Human Comfort
Cross industryLibrary
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Fluids & Thermo-hydraulicsFeatures ● Thermal-hydraulic library for various
applications = Aero, Auto, Off-Highway, …● Content covers most of the needs =
chambers, resistive elements, pipes, valves, pumps, actuators, heat exchanges, …
● Coupled with the advanced and validated fluid properties database of LMS Imagine.Lab
● Connection to native causal LMS Imagine.Lab libraries through the Modelica Import Assistant
Breakthroughs ● Stream connector included● AMESim extension to acausal
approach through Modelica for fluids modeling
● Frequency & FFT analysis for oscillating modes
Commercial
Validation ● Validated against the native LMS
Imagine.Lab Thermal-Hydraulic library● Tested with applicative models
(diesel/gasoline injection systems)
Cross industry
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Fluids Dissipation lib Features ● Pressure loss calculation for many industrial
applications like pipes, bends, diffusers, junctions, nozzles, valves, heat exchangers
● Heat transfer calculation for many industrial applications like heat exchangers, pipes, channels, helical pipes, flat plates
● Integration into Modelica.Fluid framework by flow models and heat transfer models
● Function-based approach enables use in literally each thermohydraulic Modelica library
Breakthroughs ● Efficient treatment of functions by
automatic inverting and calculation of analytic Jacobians
● Introduction of total pressure drop (important for diffusers, junctions, etc.)
Validation ● Using literature and compare to
different sources and software● Evaluation carried out by
Dassault Aviation for different systems (Fuel, Environmental Control System)
Library CommercialOpen Source
Modelica.Fluid integration
XRG integration
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Power Plant Thermofluids EDF Features ● Multi-type power plant modelling:
● Water/steam● Flue gases● Combustion● Solar● Neutronics
● All main components available: heat exchangers, turbines, pumps, tubes, volumes, valves, boundary conditions, condenser, boilers, cooling tower, combustion chambers, solar receiver…
● Static and dynamic modelling● Easy to understand, easy to extend
Breakthroughs ● Complete modelling of the full plant
thermodynamic cycle with simulation of large transients
● New method to assess fouling phenomena in steam generators
Validation ● Biomass plant● Concentrated solar plant● Combined cycle power plant● 1300 MWe P4 nuclear power
plant
Library Internal Open Source
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Power Plant Thermofluids Siemens Features ● Mainly on water steam cycle of power
plants.● Main components: water/steam tube,
flue gas zone, drum, steam turbine, pre heater, condenser, compressor, two-phase valve.
● Assemblies: super heater/economizer, flow evaporator, simple heat recovery steam generator (VDI 3508).
● Fully Modelica.Fluid compatible, but easier to understand (since specialized)
● Stable Initialization of large models using given a steady state solution.
Breakthroughs ● Tremendous speed up of large fluid
models with Dymola 7.4.● Available assemblies and models in
different level of detail.
Validation ● Heat recovery steam generator.● Low pressure and high pressure
feed water heater line of a nuclear power plant
● Fuel gas booster
Library Internal
M
MM
MPH5DK5
PH4DK4
M
M
M
M
MPH5DK5
PH4DK4
M
M
M
M
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Power Plant Thermofluids ABB Features ● Based on Modelica.Fluid library● Additionally provides
● Materials (steel, cf. Media)● HeatTransfer (tubes)● Machines (simple turbine)● Tags (pick up signals)
● Coverage● water-steam side● fluegas side
Breakthroughs ● Stream connectors for Modelica.Fluid● Components customizable to different
use cases, ranging from● Dynamic, distributed parameter to● Steady-state, lumped models
Validation ● Coal fired power plant● Dynamics for Power/Frequency
control● Steady-state performance
calculation
Library Open Source Internal
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Power Plant Electrical ABB Features ● Power Plant system modeling,
including electrical side as well● Simple electrical distribution using
natural or modal coordinates● Different phase systems in one
library, e.g.● 3 phase AC● 1 phase AC● HVDC
Breakthroughs ● Simple yet powerful to study energy
systems● Replaceable phase systems, re-using
common library infrastructure
Validation ● Energy landscape with large
fraction of renewable energy● Textbook examples
Library Open Source
w indFarm
city
dispatcher
pow erPl...
10/380
trafoPlant
380/50
distribu...
~=
~~
HVDC
hydroPlant
380/10
trafoHy...
R=1, L=...
linePlant
R=1, L=...
lineWind
R=1, L=...
lineHydroder(dist...
frequency
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Human Comfort XRGFeatures ● Prediction of thermal comfort for mobile and
stationary applications according to ISO 7730, ASHRAE 55-2004 and ISSO 74
● Complex multi zone modelso Building, automotive and aircraft cabinso Consideration of energy and mass balanceso Thermal effects (conduction, convection,
radiation: absorption, reflection, transmission)o HVAC componentso Modelica.Fluid compatible
● Weather model● Visualization of thermal comfortBreakthroughs ● Flexible geometrical transient room/cabin model ● Virtual heat pool method for internal radiation● Expandable surface connector for fast model
design
Validation ● Comparative validation to
EnergyPlus /DesignBuilder
CommercialLibrary Internal
Cross industry
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WP6 - Control Systems
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Control Systems
ObjectivesProvide Modelica libraries forsafe embedded control systems
Sub work-packages6.1 Control Systems Libraries
6.2 Continuous/Discrete Control Library
6.3 Synchronous Control Library
6.5 Embedded Control for Multiple Target Platform
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Modelica_LinearSystem2Features ● Linear system objects with overloaded
operations for different representations:state space, transfer function, zeros/poles,as continuous or discrete system.
● Functions for conversion, analysis, design, and plotting of linear systems.
● Full utilization of operator overloading.● Reliable since utilizing LAPACK library
(= the same linear algebra basis as Matlab)
Breakthroughs ● Support of linear systems for
controller design, exclusivelyusing Modelica (and LAPACK C-code)
● Advanced synthesis functions likeLQG, Extended/Unscented Kalman filter, low/high/band/stop-pass filters
Validation ● Validated against
MATLAB and SLICOT.
Cross industryLibrary Open Source
0 10 20-0.15
-0.10
-0.05
0.00
0.05
0.10
0.15UKF.y_est[2]
46
ControlDesign Features ● System analysis and Design based on
SLICOT routines.● High accuracy and efficiency by
utilizing SLICOT library● Full compatibility to
Modelica_LinearSystems2 library.
Breakthroughs ● Efficient and reliable analysis and
design functions forlarge linear systems.
Validation ● Validated against MATLAB and
Modelica_LinearSystems2.
Commercial
Cross industryLibrary
47
MAC layer network
Features ● Simulation of wired and wireless
network protocols in Modelica● MAC delays, transmission delays,
network interface delays● Based on the TrueTime toolbox
for Simulink● Shared Ethernet, Switched Ethernet,
TDMA, FDMA, CAN, Round-robin,Flexray, PROFINET IO, 802.11b, 802.15.4
Breakthroughs ● January 2009 - First version based on
external C code (released under GPL license)● June 2010 - Second version based on
native Modelica (released under Modelica License 2)
Validation ● Validated against
Simulink TrueTime
Cross industryLibrary Open Source Commercial
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Operator Overloading
Features ● Constructor and operator overloading
in Modelica for improved user experience.● Already used for:
● Complex numbers● Representations of
linear, time-invariant (LTI) systems
Breakthroughs ● Constructor and operator overloading
included in Modelica 3.1● Improved type system for overloaded
operators included in Modelica 3.2● Implementation in Dymola
Validation ● Modelica_LinearSystems2 library
implemented using overloading for manipulation of LTI systems
Commercial
Cross industry
j = Complex.j();z1 = (2 + 2*j)*(3 + 2*j);z1= 2 + 10j
z2 = (2 + 2*j)*(2 - 2*j);z2= 8
s = TransferFunction.s;Go = 1/(s+1);= "1/(s + 1)"
G = Go/(1+Go);= "1/(s + 2)"
Language
Software
49
Continuous/Discrete Control Features ● Blocks for modeling and simulating
linear control systems.● Easy switching between
continuous and discrete mode.● Templates for standard control
structures for convenient model generation(two-degree-of-freedom controller,state space controller, ...)
Breakthroughs ● Convenient modeling of continuous and
discrete control systems.● Direct usage of Modelica_LinearSystem2
for determination of the controller coefficients.
Validation ● Partly validated against
MATLAB/Simulink.
Cross industryLibrary
0 10 20-0.15
-0.10
-0.05
0.00
0.05
0.10
0.15
s
Open Source
50
Modelica_StateGraph2Features ● New Modelica library to model reactive and hybrid systems● To replace current Modelica.StateGraph library
Breakthroughs ● Improved usability
● Open Icon layer● Automatic connector sizing
● Graphical approach to Mode-Automata● New blocks to define actions
● Safer graphs● Convergence of event iterations
● Only minor Modelica enhancements● Allows analysis with external tools ● Formal definition
Validation ● Harel’s wristwatch benchmark
Cross industry
Open Source
Language Commercial
Software
Library
51
Co-simulating LCM-Modelica
Features CATIA V6 prototype to co-simulate:● 3D kinematic solver● Modelica models
(continuous time with numerical solver)● Discrete synchronous state machines
(discrete time step, LCM)
Breakthroughs Main LCM model synchronizing● State-chart controllers designed with
dataflow editor● a controlled system with
physical behavior in Modelica
Validation: Conveyor system
Commercial
Cross industrySoftware
52
Embedded Control for Multiple Target Platforms
Features ● Modelica support for configuration of embedded systems
(syn. sub-tasks, asyn. tasks, multi-processors, ....)● Modelica_EmbeddedSystems library for convenient
drag & drop usage + some free hardware drivers
Breakthroughs ● Modelica language extensions to
support partitioning of complex models● No change of logical model for different
physical architectures: HIL, SIL, MIL, ...(via inheritance and redeclaration)
● Full implementation in Dymola
Validation ● Hardware support based on
Modelica_EmbeddedSystems for● Real-time Linux (Comedi)● Windows● dSPACE● Lego Mindstorms NXT
Cross industry
Library
Open Source
Language
Commercial
Software
53
WP7 - Properties and Safety Modeling
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Properties and Safety Modeling
ObjectivesThe objectives are:
- To express and model properties required of a system. These properties may be associated to a system behaviour and be validated by simulation.
- to support risk analysis by introducing specific safety-oriented-concepts like events, transitions and synchronizations.
Sub work-packages7.1 Properties Modeling
7.2 Safety Modeling
55
Properties Modeling Features ● Express Properties in Modelica● Associate Property models with System
behavior● Specify constraints on system elements● Define the validity domain of physical models● Enhance system documentation● Develop a prototype Library to formally state
properties with the current Modelica capabilities
● Need to extend Modelica with new concepts to address properties of complex/industrial systems
Breakthroughs ● Include overall goals, constraints, validity
limits of the system● Include assumptions (about the environment) ● Reuse, save time, improve transmission of
knowledge● Keep track of property evolution due to design
or operational improvement
Validation ● ECS (Use Case from Dassault Aviation)● SRI (Use case from EDF)
Commercial
Cross industryLanguageOpen Source
56
Safety Modeling Features ● Propose to the safety engineer a high level
formalism dedicated to the risk analysis● Based on the grammar of Modelica language ● Safety concepts: event (failure, repair…),
synchronizations (Common Cause Failure), probability distributions…
● Generalize classical safety formalisms (Fault Trees, Markov graphs, Reliability Block Diagrams…)
● Convenient to handle with looped systems
Breakthroughs ● A complete integration in a System Engineering
design process● Capability to reuse and to share knowledge of
a system● Traceability between the system specifications
and the safety models● Capability to verify and validate the modeling
with event-driven simulation and observation of failure propagation
● The possible compilation into a classical fault tree to deduce the minimal cutsets and the probabilities
● Make accessible to the non-specialists the safety-oriented modeling and analysis
Validation ● Typical use cases well known in safety
engineering
Commercial
Cross industryLanguage
57
WP8 - Vehicle Systems
58
Vehicle Systems
ObjectivesEnhance Modelica for detailed and for real-time vehicle system models.
Sub work-packages8.1 Vehicle Interfaces Library
8.2 AlternativeVehicles Library
8.3 Engine Libraries
8.4 Free Piston Linear Alternator Library
8.5 Tire Library
8.6 Mechatronics Opening Library
8.8 Heat Exchanger Stack & Under-hood
8.9 VehicleControls Library
59
Vehicle InterfacesFeatures ● Provide standardized interfaces
of all major vehicle components(to support easy combination ofvehicle libraries from differentvendors).
Breakthroughs ● The library is distributed with Dymola 7.● Most sWP8.x libraries are based on it.● Dassault Aviation has adapted and
used the library for aircraft systems.
Validation ● By libraries that are based on
VehicleInterfaces(sWP 8.2, 8.3, 8.4, 8.9)
Cross industryLibrary Open Source
ProblemThe library shall be placed in the public domain. The copyright transfer contract by Dynasim, Modelon, DLR is still ongoing.
60
Alternative VehiclesFeatures ● Simulation of alternative power
trains like hybrids, fuel cell hybridand battery electric vehicles
● Component models, e.g. fuel cells, batteries, super caps, fly wheels,e-motors, engines, transmissions,and cooling cycles
● Based on VehicleInterfaces
Breakthroughs ● Analyzing and benchmark of
alternative power trains and operation strategies in Modelica
● Determination of energy consumptionpower train efficiency, electrical range, etc.
Validation ● The component models are
validated against characteristic curves and
● own measurement data
CommercialLibrary
Serial Range Extender
61
Engine Features ● Mean Value and Crank Angle
Resolved engine modeling● Engine fluid dynamics● Emissions aftertreatment● Excellent inter-library
compatibility
Breakthroughs ● Modeling combustion engines in
Modelica ● Enables driveline tensional analysis
with engine torque pulsations ● Improved efficiency of multi-body
mechanics for rotating systems
Validation ● Using engine test data● Using correlated GT Power
models
CommercialLibrary
62
Advanced engine combustionFeatures ● Complete library containing all
components for air systems● Advanced gasoline combustion
Coherent Flame Model (CFM)● Advanced Diesel combustion model
(Barba)
Breakthroughs ● Library intended for :
● Development of engine control strategies
● Pre calibration of ECU● Air system architecture studies
Validation ● Comparison with existing
commercial libraries● Comparison with experimental
results
CommercialLibrary
63
Free Piston Linear Generator Features ● FPLG Combustion Lib (Media
models for combustion process based on media package of MSL)
● FPLG Vehicle Model Library ( based on VehicleInterfaces Lib and AlternativeVehiclesLib)
● 6dof ElectricVehicleLibrary (car dynamics, chassis control and parameterized electric machine models)
Breakthroughs ● Library for FPLG, a completely new
combustion engine ● Fuel consumption and energy
management optimization for different vehicle architectures with FPLG modules.
Validation ● Results of different media models
were compared (quality of thermo dynamic state functions)
● Lane change driving maneuver (ISO 3888-1 double lane change)
InternalLibrary
64
Tire LibraryFeatures ● Interface to FTire tire model● Compatible to Modelon’s
VehicleDynamics Library
● Visualization also possible with Visualizers package from DLR-RM.
Breakthroughs ● Makes high frequency tire model with
internal dynamics available to Modelica world
● Animation of road shape and tire deformation
Validation ● Comparison to measurements at
Dassault Aviation
CommercialLibrary
65
Mechatronics Opening Systems Features ● Easy to use package for convertible roof systems● Including impact and motion control● Subpackages of splines, point-to-curve
and point-to-surface contacts
Breakthroughs ● Simulation of complete retractable hard
top including sliders, stops and bushings.
Validation ● Comparing results between
Dymola/ConvertiblePackageKAGand Pro/ENGINEER as well as SIMPACK
CommercialLibrary
66
Heat Exchanger Stack & Under-hoodFeatures ● Thermal library● Materials database● Moist Air library● Combined with WP5.1
Thermal-Hydraulic library
Breakthroughs ● Acausal modeling with series of heat exchanges
R-R or thermal capacities C-C ● Liquid/Liquid heat exchangers: counter/parallel flows● Liquid/Gas heat exchangers
Validation ● Non regression tests with
LMS Imagine.Lab libraries for referenced applications
Commercial
Cross industryLibrary
67
Vehicle Controls
Features ● Vehicle dynamics models of controlled vehicles.● Common vehicle dynamics control and driver
assistance systems(ABS, ASC, ESP, AFS, CDC, ABC, ACC).Scope: function principles,no models of proprietary systems
● Future vehicle dynamics control systems based on non-linear inverse models and online optimization or model predictive control.
● Demonstration with use cases.
Breakthroughs ● All-round collection of models for
vehicle dynamics, active chassis components, vehicle control systems
● Interactive driving simulator featuring integrated chassis control demonstrated.
Validation ● Complete parameterization of mid
class vehicle including validation against experimental data in cooperation with an OEM
● Functional plausibility review of vehicle control systems
● Proved in multiple industrial cooperation/research projects
CommercialLibrary
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