Modeling, Simulation, and Development of Cyber- Physical Systems with Openmodelica and FMI
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Efficient Software Tools in the Renewable Energy Domain: Maple and Maplesim
EnviroInfo 2013: Environmental Informatics and Renewable Energies Copyright 2013 Shaker Verlag, Aachen, ISBN: 978-3-8440-1676-5 Efficient software tools in the renewable energy domain: Maple and MapleSim Ji ří H řebí ček 1, Jaroslav Urbánek 1,2 Abstract There are presented efficient software tools Maple and MapleSim for solving technical problems in the renewable energy domain using mathematics-based modelling. MapleSim represents the simulation environment, which has a graphical interface for interconnecting system components. The system models are then processed by the Maple (symbolic computation system) mathematics engine, and finally the differential-algebraic equations describing the solved systems are simulated numerically to produce and 2-D, 3-D visualise output results. Maple allows users to quickly focus and reliably solve problems with easy access to over 5000 algorithms and functions developed over 30 years of cutting-edge research and development. In the paper there are presented two solved problems in the renewa- ble energy domain, which are freely downloadable from the web of the Canadian company Maplesoft developing above software tools. 1. Introduction The Canadian company Maplesoft 3 has developed simple and friendly used software tools Maple® 4 and MapleSim® 5 which reduce the cost and effort of developing high-fidelity models of power generation and energy storage systems, including gas and steam turbine generator sets; wind, wave, and solar energy sys- tems and batteries. Maple information technology has been trusted as a cutting edge mathematical and technical tool for over 30 years. In that time, millions of users from around the world have used and relied on the power of Maple for their research, testing, analysis, design, teaching, and schoolwork (Gander/Hřebí ček 2004), (Lynch 2009), (Borwein/Skerritt 2011), (Fox 2011), (Hřebí ček et al 2011), (Hřebí ček 2012). -
Hosted by Indian Institute of Science, Bangalore
Hosted by Indian Institute of Science, Bangalore 29 November 2018 30 November 2018 Modelica Tutorials – Beginners and 1st Modelica Users’ Meet – India Intermediate level with Hands on (MUMI 2018) Venue Class Room – 222, ICER, IISc, Bangalore Register here https://tinyurl.com/isadigitaltwins Silver Sponsor Bronze Sponsor About Modelica A non-proprietary, object-oriented, equation based language to conveniently model complex multi- domain systems used by many Industries for Modeling and Simulation Control Edge Designer MIKE from OpenModelica from from Bosch Rexroth DHI OSMC SimulationX from ESI ITI Technologies GmbH, Dresden, Germany. Simcenter Amesim from Siemens PLM Software SystemModeler from Wolfram Research, Sweden CATIA Systems Engineering Dymola from Dassault from Dassault Systèmes Systèmes Altair Activate from Altair OPTIMICA Compiler solidThinking Toolkit from Modelon AB ABB OPTIMAX PowerFit Twin Builder MapleSim from JModelica from from ABB Group from ANSYS Waterloo Maple Modelon with academia Application Tool Modelica Tutorial Modelica Users’ Meet India, 2018 Keynote: Dr Peter Fritzson Presenters from Professor and Research Director of the Programming Altair India Private Limited Environment Laboratory at Linköping University BMSCE Bangalore Director of the Open Source Modelica Consortium Dymola Director of the MODPROD center for model-based IISc Bangalore product development IIT Bombay Vice chairman of the Modelica Association ModeliCon InfoTech LLP Modelon Engineering Private Limited Tutorial Agenda SASTRA Deemed University -
Automatic Calibrations Generation for Powertrain Controllers Using Maplesim
2018-01-1458 Automatic Calibrations Generation for Powertrain Controllers Using MapleSim Abstract development costs. Furthermore, MapleSim’s symbolic capabilities, including symbolic simplification and symbolic optimization of gen- Modern powertrains are highly complex systems whose development erated code, enable complex models to be simulated at speeds that al- requires careful tuning of hundreds of parameters, called calibrations. low real-time simulation for Hardware-In-the-Loop testing. The tool These calibrations determine essential vehicle attributes such as per- has been used in different industries, including safety critical indus- formance, dynamics, fuel consumption, emissions, noise, vibrations, tries [3]. Furthermore, the tool has been applied in powertrain model- harshness, etc. This paper presents a methodology for automatic gen- ing and analysis [4, 5, 6]. For example, [4] uses MapleSim/Maple for eration of calibrations for a powertrain-abstraction software module modeling and rapid prototyping of a powertrain. within the powertrain software of hybrid electric vehicles. This mod- ule hides the underlying powertrain architecture from the remaining In model-based development, the calibration process makes up a sig- powertrain software. The module encodes the powertrain’s torque- nificant portion of overall development efforts [7]. The calibration speed equations as calibrations. The methodology commences with process deals with tuning system parameters—calibrations—to meet modeling the powertrain in MapleSim, a multi-domain modeling and multiple requirements. Within the powertrain controls, calibrations simulation tool. Then, the underlying mathematical representation of typically reflect parameters (e.g., filters’ parameters, delays, thresh- the modeled powertrain is generated from the MapleSim model using olds, etc.) that are used for fine-tuning performance, fuel-efficiency, Maple, MapleSim’s symbolic engine. -
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). -
Lecture #4: Simulation of Hybrid Systems
Embedded Control Systems Lecture 4 – Spring 2018 Knut Åkesson Modelling of Physcial Systems Model knowledge is stored in books and human minds which computers cannot access “The change of motion is proportional to the motive force impressed “ – Newton Newtons second law of motion: F=m*a Slide from: Open Source Modelica Consortium, Copyright © Equation Based Modelling • Equations were used in the third millennium B.C. • Equality sign was introduced by Robert Recorde in 1557 Newton still wrote text (Principia, vol. 1, 1686) “The change of motion is proportional to the motive force impressed ” Programming languages usually do not allow equations! Slide from: Open Source Modelica Consortium, Copyright © Languages for Equation-based Modelling of Physcial Systems Two widely used tools/languages based on the same ideas Modelica + Open standard + Supported by many different vendors, including open source implementations + Many existing libraries + A plant model in Modelica can be imported into Simulink - Matlab is often used for the control design History: The Modelica design effort was initiated in September 1996 by Hilding Elmqvist from Lund, Sweden. Simscape + Easy integration in the Mathworks tool chain (Simulink/Stateflow/Simscape) - Closed implementation What is Modelica A language for modeling of complex cyber-physical systems • Robotics • Automotive • Aircrafts • Satellites • Power plants • Systems biology Slide from: Open Source Modelica Consortium, Copyright © What is Modelica A language for modeling of complex cyber-physical systems -
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 ..................................................................................................................... -
Component-Oriented Acausal Modeling of the Dynamical Systems in Python Language on the Example of the Model of the Sucker Rod String
Component-oriented acausal modeling of the dynamical systems in Python language on the example of the model of the sucker rod string Volodymyr B. Kopei, Oleh R. Onysko and Vitalii G. Panchuk Department of Computerized Mechanical Engineering, Ivano-Frankivsk National Technical University of Oil and Gas, Ivano-Frankivsk, Ukraine ABSTRACT Typically, component-oriented acausal hybrid modeling of complex dynamic systems is implemented by specialized modeling languages. A well-known example is the Modelica language. The specialized nature, complexity of implementation and learning of such languages somewhat limits their development and wide use by developers who know only general-purpose languages. The paper suggests the principle of developing simple to understand and modify Modelica-like system based on the general-purpose programming language Python. The principle consists in: (1) Python classes are used to describe components and their systems, (2) declarative symbolic tools SymPy are used to describe components behavior by difference or differential equations, (3) the solution procedure uses a function initially created using the SymPy lambdify function and computes unknown values in the current step using known values from the previous step, (4) Python imperative constructs are used for simple events handling, (5) external solvers of differential-algebraic equations can optionally be applied via the Assimulo interface, (6) SymPy package allows to arbitrarily manipulate model equations, generate code and solve some equations symbolically. The basic set of mechanical components (1D translational “mass”, “spring-damper” and “force”) is developed. The models of a sucker rods string are developed and simulated using these components. The comparison of results of the sucker rod string simulations with practical dynamometer cards and Submitted 22 March 2019 Accepted 24 September 2019 Modelica results verify the adequacy of the models. -
Modelica and Fmi As Enablers for Virtual Product Innovation
OPEN STANDARDS IN SIMULATION MODELICA AND FMI AS ENABLERS FOR VIRTUAL PRODUCT INNOVATION Hubertus Tummescheit Board member, Modelica Association & co-founder of Modelon 1 OVERVIEW • Background and Motivation • Introduction – why open standards matter • Innovation in Model Based Design • Modelica – the equation based modeling language • The Functional-Mockup-Interface (FMI) • Examples • What’s next: upcoming innovations • Conclusions 2 The Modelica Association • An independent non-profit organization registered in Sweden. https://www.modelica.org • Members: ▪ Tool vendors ▪ Government research organizations ▪ Service providers ▪ Power users • Two standards and four core projects: ▪ The Modelica Language ▪ The Modelica Standard Library ▪ The FMI Standard for model exchange and co-simulation ▪ The SSP project for an upcoming standard on system structure and parameterization • FMI web site: http://www.fmi-standard.org • Next Modelica Conference: May 15-17 in Prague MOTIVATION: THE COMPLEXITY ISSUE ▪ System complexity increases ▪ Required time to market decreases (most industries) ▪ Without disruptive changes, an impossible equation to solve. Source: DARPA Large part of AVM project complexity is in software! 4 WHY OPEN STANDARDS ARE NEEDED • Computer Aided Engineering is a very fragmented industry • Tools evolved domain by domain • Interoperability has been an afterthought, at best • Today’s complex systems require interoperability! • An everyday challenge for engineering design • Open standards drastically reduce the cost of creating interoperability between tools • There is an interplay with open source: open source can also increase the speed of software innovation 5 TIE YOURSELF TO STANDARDS, NOT TOOLS! 1. It will be cheaper 2. It will keep software vendors on their toes to compete on tool capability, not quality of lock-in 3. -
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. -
Real-Time Simulation and HIL Testing
Real-time Simulation and HIL Testing Advanced projects require advanced tools for meeting and exceeding system-level requirements. By incorporating the most recent progress in engineering design technology, MapleSimTM offers a modern approach to physical modeling and simulation. It dramatically reduces model development and analysis time while producing fast, high-fidelity simulations. MapleSim is a “white-box” Modelica® platform, giving you complete flexibility and openness for complex multidomain models. With MapleSim, you create, analyze, and run system-level models in a fraction of the time it takes with other tools. As a result of its symbolic equation-formulation, simplification, and optimization technologies, MapleSim replaces repeated calls to computationally MapleSim dramatically reduces the computational effort of simulation. With MapleSim, you do not expensive function calls and algebraic terms with have to choose between model fidelity and real-time performance. precomputed single values, prior to the iteration. Real-time Simulation and HIL Testing MapleSim produces high-performance, royalty-free code suitable even from inside iteration loops, MapleSim can decrease the number of for complex real-time simulations, including hardware-in-the-loop (HIL) calculations for a single common subexpression from thousands to one applications. With MapleSim, you do not have to choose between model in a typical application. fidelity and real-time performance. • Available code generation targets, using MapleSim or MapleSim with a connectivity -
Numerical Analysis, Modelling and Simulation
Numerical Analysis, Modelling and Simulation Griffin Cook Numerical Analysis, Modelling and Simulation Numerical Analysis, Modelling and Simulation Edited by Griffin Cook Numerical Analysis, Modelling and Simulation Edited by Griffin Cook ISBN: 978-1-9789-1530-5 © 2018 Library Press Published by Library Press, 5 Penn Plaza, 19th Floor, New York, NY 10001, USA Cataloging-in-Publication Data Numerical analysis, modelling and simulation / edited by Griffin Cook. p. cm. Includes bibliographical references and index. ISBN 978-1-9789-1530-5 1. Numerical analysis. 2. Mathematical models. 3. Simulation methods. I. Cook, Griffin. QA297 .N86 2018 518--dc23 This book contains information obtained from authentic and highly regarded sources. All chapters are published with permission under the Creative Commons Attribution Share Alike License or equivalent. A wide variety of references are listed. Permissions and sources are indicated; for detailed attributions, please refer to the permissions page. Reasonable efforts have been made to publish reliable data and information, but the authors, editors and publisher cannot assume any responsibility for the validity of all materials or the consequences of their use. Copyright of this ebook is with Library Press, rights acquired from the original print publisher, Larsen and Keller Education. Trademark Notice: All trademarks used herein are the property of their respective owners. The use of any trademark in this text does not vest in the author or publisher any trademark ownership rights in such trademarks, nor does the use of such trademarks imply any affiliation with or endorsement of this book by such owners. The publisher’s policy is to use permanent paper from mills that operate a sustainable forestry policy.