The Openmodelica Integrated Modeling, Simulation and Optimization Environment
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Hardware-In-The-Loop Simulation of Aircraft Actuator
Hardware-in-the-Loop Simulation of Aircraft Actuator Robert Braun Fluid and Mechanical Engineering Systems Degree Project Department of Management and Engineering LIU-IEI-TEK-A{08/00674{SE Master Thesis LinkÄoping,September 3, 2009 Department of Management and Engineering Division of Fluid and Mechanical Engineering Systems Supervisor: Professor Petter Krus Front page picture: http://www.flickr.com/photos/thomasbecker/2747758112 Abstract Advanced computer simulations will play a more and more important role in future aircraft development and aeronautic research. Hardware-in-the-loop simulations enable examination of single components without the need of a full-scale model of the system. This project investigates the possibility of conducting hardware-in-the-loop simulations using a hydraulic test rig utilizing modern computer equipment. Controllers and models have been built in Simulink and Hopsan. Most hydraulic and mechanical components used in Hopsan have also been translated from Fortran to C and compiled into shared libraries (.dll). This provides an easy way of importing Hopsan models in LabVIEW, which is used to control the test rig. The results have been compared between Hopsan and LabVIEW, and no major di®erences in the results could be found. Importing Hopsan components to LabVIEW can potentially enable powerful features not available in Hopsan, such as hardware-in-the-loop simulations, multi-core processing and advanced plot- ting tools. It does however require fast computer systems to achieve real- time speed. The results of this project can provide interesting starting points in the development of the next generation of Hopsan. Preface This thesis work has been written at the Division of Fluid and Mechanical Engineering Systems (FluMeS), part of the Department of Management and Engineering (IEI) at LinkÄopingUniversity (LiU). -
Aircraft System Simulation for Preliminary Design
28TH INTERNATIONAL CONGRESS OF THE AERONAUTICAL SCIENCES AIRCRAFT SYSTEM SIMULATION FOR PRELIMINARY DESIGN Petter Krus, Robert Braun, Peter Nordin, and Björn Eriksson Linköping University, SE-58183 Linköping, Sweden [email protected] Keywords: aircraft conceptual design, system modeling, mission simulation Abstract subsystem as early in preliminary design as possible, and then use this model to develop the Developments in computational hardware and design further. In this way the simulation model simulation software have come to a point where becomes a point of convergence for the aircraft it is possible to use whole mission simulation in conceptual design as well as the conceptual a framework for conceptual/preliminary design. design of the subsystem as well as a tool for This paper is about the implementation of full further development in preliminary design. system simulation software for Using simulation performance conceptual/preliminary aircraft design. It is characteristics at the whole aircraft level can be based on the new Hopsan NG simulation evaluated very straightforwardly, and things like package, developed at the Linköping University. trim drag are accounted for as a byproduct. The Hopsan NG software is implemented in Furthermore, as the design progress into sub C++. Hopsan NG is the first simulation system design, systems such as actuation software that has support for multi-core systems, fuel systems etc, can also be included simulation for high speed simulation of multi and verified together in the actual flight profile. domain systems. Using simulation models of whole aircraft with In this paper this is demonstrated on a subsystems, it is then possible to do design flight simulation model with subsystems, such as analysis, e.g. -
Early Insights on FMI-Based Co-Simulation of Aircraft Vehicle Systems
The 15th Scandinavian International Conference on Fluid Power, SICFP’17, June 7-9, 2017, Linköping, Sweden Early Insights on FMI-based Co-Simulation of Aircraft Vehicle Systems Robert Hallqvist*, Robert Braun**, and Petter Krus** E-mail: [email protected], [email protected], [email protected] *Systems Simulation and Concept Design, Saab Aeronautics, Linköping, Sweden **Department of Fluid and Mechatronic Systems, Linköping University, Linköping, Sweden Abstract Modelling and Simulation is extensively used for aircraft vehicle system development at Saab Aeronautics in Linköping, Sweden. There is an increased desire to simulate interacting sub-systems together in order to reveal, and get an understanding of, the present cross-coupling effects early on in the development cycle of aircraft vehicle systems. The co-simulation methods implemented at Saab require a significant amount of manual effort, resulting in scarcely updated simulation models, and challenges associated with simulation model scalability, etc. The Functional Mock-up Interface (FMI) standard is identified as a possible enabler for efficient and standardized export and co-simulation of simulation models developed in a wide variety of tools. However, the ability to export industrially relevant models in a standardized way is merely the first step in simulating the targeted coupled sub-systems. Selecting a platform for efficient simulation of the system under investigation is the next step. Here, a strategy for adapting coupled Modelica models of aircraft vehicle systems to TLM-based simulation is presented. An industry-grade application example is developed, implementing this strategy, to be used for preliminary investigation and evaluation of a co- simulation framework supporting the Transmission Line element Method (TLM). -
Openmodelica Development Environment with Eclipse Integration for Browsing, Modeling, and Debugging
OpenModelica Development Environment with Eclipse Integration for Browsing, Modeling, and Debugging Adrian Pop, Peter Fritzson, Andreas Remar, Elmir Jagudin, David Akhvlediani PELAB – Programming Environment Lab, Dept. Computer Science Linköping University, S-581 83 Linköping, Sweden {adrpo, petfr}@ida.liu.se Abstract mental if it gives quick feedback, e.g. without recom- puting everything from scratch, and maintains a dia- The OpenModelica (MDT) Eclipse Plugin integrates logue with the user, including preserving the state of the OpenModelica compiler and debugger with the previous interactions with the user. Interactive envi- Eclipse Integrated Development Environment Frame- ronments are typically both more productive and more work.. MDT, together with the OpenModelica compiler fun to use. and debugger, provides an environment for Modelica There are many things that one wants a program- development projects. This includes browsing, code ming environment to do for the programmer, particu- completion through menus or popups, automatic inden- larly if it is interactive. What functionality should be tation even of syntactically incorrect models, and included? Comprehensive software development envi- model debugging. Simulation and plotting is also pos- ronments are expected to provide support for the major sible from a special command window. To our knowl- development phases, such as: edge, this is the first Eclipse plugin for an equation- • based language. Requirements analysis. • Design. • Implementation. 1 Introduction • Maintenance. The goal of our work with the Eclipse framework inte- A programming environment can be somewhat more gration in the OpenModelica modeling and develop- restrictive and need not necessarily support early ment environment is to achieve a more comprehensive phases such as requirements analysis, but it is an ad- and more powerful environment. -
Paramagic(TM) Users Guide
75 Fifth Street NW, Suite 213 Atlanta, GA 30308, USA Voice: +1- 404-592-6897 Web: www.InterCAX.com E-mail: [email protected] ParaMagicTM v16.6 sp1 Users Guide Table of Contents 1! About ..................................................................................................................................................... 3! 2! Quick Start ............................................................................................................................................ 3! 2.1! First Pass – execute existing models .............................................................................................. 3! 2.2! Second Pass – create new models .................................................................................................. 4! 3! Installation ............................................................................................................................................ 5! 3.1! Installation Requirements ............................................................................................................... 5! 3.1.1! System Requirements .............................................................................................................. 5! 3.1.2! MagicDraw Requirements ....................................................................................................... 5! 3.1.3! Core Solver Requirements ...................................................................................................... 5 ! 3.2! Installation Process ..................................................................................................................... -
Openmodelica System Documentation
OpenModelica Users Guide Version 2012-03-29 for OpenModelica 1.8.1 March 2012 Peter Fritzson Adrian Pop, Adeel Asghar, Willi Braun, Jens Frenkel, Lennart Ochel, Martin Sjölund, Per Östlund, Peter Aronsson, Mikael Axin, Bernhard Bachmann, Vasile Baluta, Robert Braun, David Broman, Stefan Brus, Francesco Casella, Filippo Donida, Anand Ganeson, Mahder Gebremedhin, Pavel Grozman, Daniel Hedberg, Michael Hanke, Alf Isaksson, Kim Jansson, Daniel Kanth, Tommi Karhela, Juha Kortelainen, Abhinn Kothari, Petter Krus, Alexey Lebedev, Oliver Lenord, Ariel Liebman, Rickard Lindberg, Håkan Lundvall, Abhi Raj Metkar, Eric Meyers, Tuomas Miettinen, Afshin Moghadam, Maroun Nemer, Hannu Niemistö, Peter Nordin, Kristoffer Norling, Karl Pettersson, Pavol Privitzer, Jhansi Reddy, Reino Ruusu, Per Sahlin,Wladimir Schamai, Gerhard Schmitz, Anton Sodja, Ingo Staack, Kristian Stavåker, Sonia Tariq, Mohsen Torabzadeh-Tari, Parham Vasaiely, Niklas Worschech, Robert Wotzlaw, Björn Zackrisson, Azam Zia Copyright by: Open Source Modelica Consortium 2 Copyright © 1998-CurrentYear, Open Source Modelica Consortium (OSMC), c/o Linköpings universitet, Department of Computer and Information Science, SE-58183 Linköping, Sweden All rights reserved. THIS PROGRAM IS PROVIDED UNDER THE TERMS OF GPL VERSION 3 LICENSE OR THIS OSMC PUBLIC LICENSE (OSMC-PL). ANY USE, REPRODUCTION OR DISTRIBUTION OF THIS PROGRAM CONSTITUTES RECIPIENT'S ACCEPTANCE OF THE OSMC PUBLIC LICENSE OR THE GPL VERSION 3, ACCORDING TO RECIPIENTS CHOICE. The OpenModelica software and the OSMC (Open Source Modelica Consortium) Public License (OSMC-PL) are obtained from OSMC, either from the above address, from the URLs: http://www.openmodelica.org or http://www.ida.liu.se/projects/OpenModelica, and in the OpenModelica distribution. GNU version 3 is obtained from: http://www.gnu.org/copyleft/gpl.html. -
Arquitectura Para La Interoperabilidad De Unidades De Simulacion´ Basadas En Fmu
ARQUITECTURA PARA LA INTEROPERABILIDAD DE UNIDADES DE SIMULACION´ BASADAS EN FMU Proyecto Fin de Carrera Ingenier´ıaInform´atica 16/02/2015 Autora: Tutores: S´anchez Medrano, Mar´ıadel Carmen Hern´andezCabrera, Jos´eJuan Evora´ G´omez,Jos´e Hern´andezTejera, Francisco M. Escuela de Ingenier´ıaInform´atica.Universidad de Las Palmas de G.C. Proyecto fin de carrera Proyecto fin de carrera de la Escuela de Ingenier´ıaInform´atica de la Universidad de Las Palmas de Gran Canaria presentado por la alumna: Apellidos y nombre de la alumna: S´anchez Medrano, Mar´ıadel Carmen T´ıtulo: Arquitectura para la interoperabilidad de unidades de simulaci´onbasadas en FMU Fecha: Febrero de 2015 Tutores: Hern´andezCabrera, Jos´eJuan Evora´ G´omez,Jos´e Hern´andezTejera, Francisco M. Escuela de Ingenier´ıaInform´atica.Universidad de Las Palmas de G.C. Dedicatoria A MI MADRE Y A MI PADRE Escuela de Ingenier´ıaInform´atica.Universidad de Las Palmas de G.C. Agradecimientos A mis tutores. A Jos´eJuan Hern´andezCabrera por su direcci´ony orientaci´onen este proyecto. Por ser un excelente mentor que ha permitido iniciarme en la l´ıneade investi- gadora y en el aprendizaje de otras filosof´ıasde programaci´on.A Jos´e Evora´ G´omezpor sus explicaciones y ayuda incondicional durante todo el desarrollo. A Francisco Mario Hern´andezpor darme la oportunidad de integrarme en este excelente equipo. A todo el grupo de profesores que me han instruido durante todos estos a~nosper- miti´endomeconseguir el objetivo deseado: ser ingeniera inform´atica. A todos mis compa~neros y amigos de carrera, en especial a Alberto y Dani. -
Diplomarbeit Simulation Von Flugzeugsystemen Mit HOPSAN
Diplomarbeit Department Fahrzeugtechnik und Flugzeugbau Simulation von Flugzeugsystemen mit HOPSAN Johannes Meier 10. August 2007 2 Hochschule für Angewandte Wissenschaften Hamburg Department Fahrzeugtechnik und Flugzeugbau Berliner Tor 9 20099 Hamburg Verfasser: Johannes Meier Abgabedatum: 10.08.2007 1. Prüfer: Prof. Dr.-Ing. Dieter Scholz, MS 2. Prüfer: Prof. Dr. Schulze Betreuer: Dr. Christian Müller Christian Matalla 3 Kurzreferat In dieser Arbeit wird das Simulationsprogramm Hopsan untersucht. Es ist ein Programm, das für die Simulation von hydraulischen Systemen entworfen wurde. Entwickelt wird es an der Universität von Linköping in Schweden seit 1977 und es ist für jedermann zugänglich. Ziel ist es die Eignung von Hopsan für die Simulation von verschiedenartigen Flugzeugsystemen zu überprüfen. Dabei wird auch auf die Theorie und die Handhabung eingegangen. Diese Arbeit ist in Teilen wie eine Bedienungsanleitung aufgebaut und soll den Einstieg in das Programm erleichtern. Mit Hilfe von Beispielen werden die Möglichkeiten von Hopsan aufgezeigt. Die Beispiele lehnen sich an hydraulische Flugzeugsysteme, Pneumatiksysteme und das Fahrwerk an. Zum Teil werden Ergebnisse von Simulationen mit denen von anderen Simulationspro- grammen verglichen. Die Arbeit mit diesem Programm hat gezeigt, dass die Bedienung ein- fach und schnell von statten geht. Der Vergleich von hydraulischen Systemen mit anderen Programmen ergab sehr ähnliche Ergebnisse. Weiterhin hat die Untersuchung gezeigt, dass Hopsan nur unter bestimmten Voraussetzungen für Pneumatiksysteme geeignete ist. 1 DEPARTMENT FAHRZEUGTECHNIK UND FLUGZEUGBAU Simulation von Flugzeugsystemen mit HOPSAN Aufgabenstellung zur Diplomarbeit gemäß Prüfungsordnung Hintergrund HOPSAN ist eine integrierte Umgebung zur Simulation von strömungsmechanischen Syste- men zur Leistungsübertragung. Ein System oder eine Komponente können vor dem Bau und der Inbetriebnahme getestet und analysiert werden. -
A Novel Fmi and Tlm-Based Desktop Simulator for Detailed Studies of Thermal Pilot Comfort
A NOVEL FMI AND TLM-BASED DESKTOP SIMULATOR FOR DETAILED STUDIES OF THERMAL PILOT COMFORT *Robert Hällqvist , **Jörg Schminder , *Magnus Eek , ***Robert Braun , **Roland Gårdhagen , ***Petter Krus *Systems Simulation and Concept Design, Saab Aeronautics, Linköping, Sweden **Applied Thermodynamics and Fluid Mechanics, Linköping University, Linköping, Sweden ***Fluid and Mechatronic Systems, Linköping University, Linköping, Sweden Keywords: OMSimulator, FMI, TLM, Pilot Thermal Comfort, Modelling and Simulation Abstract can be shifted to earlier design phases if detailed simulations of large portions of a complete Modelling and Simulation is key in aircraft sys- aircraft are feasible. However, in order to further tem development. This paper presents a novel, increase the use of M&S, and expand the scope multi-purpose, desktop simulator that can be of analysis using models, simulation of coupled used for detailed studies of the overall perfor- models developed in a wide variety of different mance of coupled sub-systems, preliminary con- tools need to be made available on the engineers’ trol design, and multidisciplinary optimization. and researchers’ desktop computers. Also, Here, interoperability between industrially rel- risks associated with tool-vendor lock-in and evant tools for model development and simu- licensing costs need to be kept at a minimum lation is established via the Functional Mock- if the benefits of M&S are to be further exploited. up Interface (FMI) and System Structure and Parametrization (SSP) standards. Robust and The ITEA3 financed research project Open distributed simulation is enabled via the Trans- Cyber Physical System Model-Driven Certified mission Line element Method (TLM). The ad- Development (OpenCPS) [1] aims to address the vantages of the presented simulator are demon- challenges identified by academia and industry strated via an industrially relevant use-case where in terms of efficient model integration and simulations of pilot thermal comfort are coupled simulation. -
Distributed System Simulation Methods
Linköping Studies in Science and Technology Dissertations No. 1732 Distributed System Simulation Methods For Model-Based Product Development Robert Braun Division of Fluid and Mechatronic Systems Department of Management and Engineering Linköping University, SE–581 83 Linköping, Sweden Linköping 2015 Copyright © Robert Braun, 2015 Distributed System Simulation Methods For Model-Based Product Development ISBN 978-91-7685-875-2 ISSN 0345-7524 Distributed by: Division of Fluid and Mechatronic Systems Department of Management and Engineering Linköping University SE-581 83 Linköping, Sweden Printed in Sweden by LiU-Tryck, Linköping 2015. To Emma Computers are useless. They can only give you answers. ” Pablo Picasso Abstract With the current trend towards multi-core processors and computer grids, parallelism in system simulation is becoming inevitable. Performing multi- ple tasks concurrently can save both time and money. However, this also puts higher demands on simulation software. This thesis investigates how simulation-based product development can benefit from distributed simulation. One parallelization method is to cut apart models for simulation with dis- tributed solvers by using time delays. The transmission line element method (TLM) is used, which eliminates numerical errors by introducing physically motivated time delays. Results show that linear speed-ups can be obtained for large models with balanced workloads. Different task scheduling techniques are tested. It is found that a fork-join algorithm with implicit synchronization performs best for models with a large total workload. On the other hand, a task-pool implementation with lock-based synchronization works better with smaller workloads. The distributed solver method virtually equals co-simulation between differ- ent simulation tools. -
Modelica Development Tooling for Eclipse
Modelica Development Tooling for Eclipse Elmir Jagudin Andreas Remar April 10, 2006 LITH-IDA-EX–06/024–SE i This work is licensed under the Creative Commons Attribution-ShareAlike 2.5 Sweden License. To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/2.5/se/ or send a letter to Creative Commons, 543 Howard Street, 5th Floor, San Francisco, Califor- nia, 94105, USA. ii Summary PELAB at Link¨oping University is developing a complete environment for developing software in the Modelica language. Modelica is a computer lan- guage for modelling and simulating complex systems that can be described by using mathematical equations. The language is currently being extended by PELAB to also support language modeling and meta-modeling. The en- vironment that PELAB is developing is called OpenModelica. An important part of this project is a textual environment for creating and editing Modelica models. The Modelica Development Tooling is a collection of integrated tools for working with Modelica projects. It is developed as a series of plugins to the Eclipse environment. One of the requirements of an integrated development environment (IDE) is to provide the user with extra information that is helpful for developing and understanding software. Some of the information provided by MDT is package browsing and error marking. Modelica packages can be browsed in much the same way as Java packages can be browsed in JDT, the Java Development Tooling. JDT is in fact a source of inspiration for MDT. That should be obvious given the name. Some of the functionality that is provided by MDT is provided by the OpenModelica Compiler. -
Metamodelling for Design of Mechatronic and Cyber-Physical Systems
applied sciences Article Metamodelling for Design of Mechatronic and Cyber-Physical Systems Krzysztof Pietrusewicz West Pomeranian University of Technology, Szczecin, Sikorskiego 37, 70-313 Szczecin, Poland; [email protected]; Tel.: +48-663-398-396 Received: 30 November 2018; Accepted: 17 January 2019; Published: 22 January 2019 Featured Application: The presented results were used to design innovative mechatronic solutions: motion control algorithm of 5-axis feed drive “X-5” processing centre owned by the AVIA company, loading and forestry crane control system designed within the EU 7FP IAPP project called iLOAD. Abstract: The paper presents the issue of metamodeling of Domain-Specific Languages (DSL) for the purpose of designing complex mechatronics systems. Usually, one of the problems during the development of such projects is an interdisciplinary character of the team that is involved in this endeavour. The success of a complex machine project (e.g., Computer Numerically Controlled machine (CNC), loading crane, forestry crane) often depends on a proper communication between team members. The domain-specific modelling languages developed using one of the two approaches discussed in the work, lead to a machine design that can be carried out much more efficiently than with conventional approaches. Within the paper, the Meta-Object Facility (MOF) approach to metamodeling is presented; it is much more prevalent in modern modelling software tools than Graph-Object-Property-Relationship-Role (GOPRR). The main outcome of this work is the first presentation of researchML modelling language that is the result of more than twenty ambitious research and development projects. It is effectively used within new enterprises and leads to improved traceability of the project goals.