Principles of Object Object-Oriented Modeling and Simulation with Modelica
Peter Fritzson
Linkping University, petfr@ida.liu.se
Mohsen TorabzadehTorabzadeh-Tari
Linkping University, mohto@ida.liu.se
Martin Sjlund
Linkping University, marsj@ida.liu.se
Slides
Based on book and lecture notes by Peter Fritzson
Contributions 2004-2005 by Emma Larsdotter Nilsson, Peter Bunus Contributions 2007-2008 by Adrian Pop, Peter Fritzson Contributions 2009 by David Broman, Jan Brugrd, Mohsen Torabzadeh-Tari, Peter Fritzson Contributions 2010 by Mohsen Torabzadeh-Tari, Peter Fritzson
2010-10-13 Course at Linkping University
Course Based on Book, 2004
Peter Fritzson
Principles of Object Oriented Modeling and Simulation with Modelica 2.1
Wiley-IEEE Press 940 pages
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Outline Day 1
Part I Introduction to Modelica and a demo example Part II Modelica environments
Part III Modelica language concepts and textual modeling
Part IV Graphical modeling and the Modelica standard library
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Acknowledgements, Usage, Copyrights
If you want to use the Powerpoint version of these slides in your own course, send an email to: peter.fritzson@liu.se Thanks to Emma Larsdotter Nilsson for contributions to the layout of these slides slides, to Peter Bunus Bunus, Adrian Pop Pop, David Broman, Jan Brugrd, Mohsen Torabzadeh-Tari for contributions. Most examples, figures and much text in this course are adapted with permission from Peter Fritzsons book Principles of Object Oriented Modeling and Simulation with Modelica 2.1, copyright Wiley-IEEE Press Some examples p and figures g reproduced p with p permission from Modelica Association, Martin Otter, Hilding Elmqvist, and MathCore Modelica Association: www.modelica.org OpenModelica: www.openmodelica.org
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Software Installation
Start the software installation Install OpenModelica-1.5.msi and simForge (e.g. SimForge-0.9.RC2.jar) from the USB Stick (If ( you y have a Mac or Linux computer, p install OpenModelica-1.5.0)
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Outline
Introduction to Modeling and Simulation Modelica - The next generation modeling and g g Simulation Language Modeling and Simulation Environments and OpenModelica Classes Components, Connectors and Connections q Equations Discrete Events and Hybrid Systems Algorithms and Functions Demonstrations
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Why Modeling & Simulation ? Increase understanding of complex systems Design and optimization Virtual prototyping Verification
Build more complex systems
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What is a system? A system is an object or collection of objects whose properties we want to study Natural N t l and d artificial tifi i l systems t Reasons to study: curiosity, to build it
Collector
Hot water
Storage tank Heater
Electricity Cold water Pump
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Examples of Complex Systems
Robotics Automotive Aircrafts Satellites Biomechanics Power plants Hardware-in-the-loop, real-time simulation
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Experiments An experiment is the process of extracting information from a system by exercising its inputs Problems
Experiment might be too expensive Experiment might be too dangerous System needed for the experiment might not yet exist
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Model concept
A model of a system is anything an experiment can be applied to in order to answer questions about that system
Kinds of models:
Mental model statement like a person is reliable Verbal model model expressed in words Physical model a physical object that mimics the system Mathematical model a description of a system where the relationships p are expressed p in mathematical form a virtual prototype Physical modeling also used for mathematical models built/structured in the same way as physical models
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Simulation A simulation is an experiment performed on a model Examples of simulations:
Industrial process such as steel or pulp manufacturing, study the behaviour under different operating conditions in order to improve the process Vehicle behaviour e.g. of a car or an airplane, for operator training Packet switched computer network study behaviour under different loads to improve performance
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Reasons for Simulation Suppression of second-order effects Experiments are too expensive, too dangerous, or the system to be investigated does not yet exist The time scale is not compatible with experimenter (Universe, million years, ) Variables may be inaccessible. Easy manipulation of models Suppression of disturbances
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Dangers of Simulation Falling in love with a model
The Pygmalion effect (forgetting that model is not the real world, , e.g. g introduction of foxes to hunt rabbits in Australia) )
Forcing reality into the constraints of a model
The Procrustes effect (e.g. economic theories)
Forgetting the models level of accuracy
Simplifying assumptions
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Building Models Based on Knowledge System knowledge
The collected general experience in relevant domains The system itself
Specific or generic knowledge
E.g. software engineering knowledge
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Kinds of Mathematical Models Dynamic vs. Static models y models Continuous-time vs. Discrete-time dynamic Quantitative vs. Qualitative models
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Dynamic vs. Static Models A dynamic model includes time in the model A static model can be defined without involving time
Resistor voltage static system
Input current pulse Capacitor voltage - dynamic
time
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Continuous-Time vs. ContinuousDiscreteDiscrete -Time Dynamic Models
Continuous-time models may evolve their variable values continuously during a time period Discrete-time variables change g values a finite number of times during a time period
Continuous Discrete
time
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Quantitative vs. Qualitative Models Results in qualitative data Variable values cannot be represented numerically Mediocre = 1, Good = 2, Tasty = 3, Superb = 4
Superb Tasty Good Mediocre
time
Quality of food in a restaurant according to inspections at irregular points in time
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Using Modeling and Simulation within the Product DesignDesign-V
Level of Abstraction
Experience Feedback System requirements
Specification Calibration
Maintenance Product verification and deployment
Preliminary feature design
Design Integration
Subsystem level integration test calibration and verification Subsystem level integration and verification
Architectural design and system functional design Detailed feature design and implementation
Design Refinement
Verification
Component verification erification Realization
Documentation, Version and Configuration Management
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Principles of Graphical EquationEquation-Based Modeling
Each icon represents a physical component i.e. Resistor, mechanical Gear Box, Pump Composition lines represent the actual physical connections i.e. electrical line, mechanical connection, heat flow Variables at the interfaces describe interaction with other component Physical behavior of a component is described by equations Hierarchical decomposition of components
Component 1 Component 2
Connection Component 3
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Application Example Industry Robot
k2 i qddRef qdRef 1 S qRef 1 S i k1 r3Control r3Motor
cut joint
r3Drive1 1
axis6
tn
qd
axis5
l
qdRef
Kd
S
0.03
Jmotor=J rel joint=0
spring=c
axis4
0.3
+1 +1
b(s)
340.8 S
a(s)
fric=Rv0
qRef
pSum
Kv
sum
w Sum
rate2
rate3
iRef
S
gear=i
axis3
rate1 b(s) a(s) tacho2 b(s) a(s) tacho1 PT1
g5
axis2
Rp2=50
qd
Rd1=100
Ra=250 La=(250/(2* *D*w m ))
C=0.004*D/w m
Rp1=200
axis1
Rd2=100 Ri=10 -
+ diff
+ OpI
+ pow er
Srel = n*transpose(n)+(identity(3)- n*transpose(n))*cos(q)skew(n)*sin(q); g3 wrela = n*qd; g1 zrela = n*qdd; Sb = Sa*transpose(Srel); r0b = r0a; hall1 vb = Srel*va; wb = Srel*(wa + wrela); g4 ab = Srel*aa; qd g2 zb = Srel*(za + zrela + cross(wa, wrela));
Rd3=100 hall2
Vs
Rd4=100
emf
y x inertial
Courtesy of Martin Otter
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GTX Gas Turbine Power Cutoff Mechanism
Hello
Courtesy of Siemens Industrial Turbomachinery AB
Developed by MathCore for Siemens
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Modelica in Automotive Industry
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Modelica in Avionics
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Modelica in Biomechanics
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Modelica The Next Generation Modeling Language
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Stored Knowledge 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
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The Form Equations
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
CSSL (1967) introduced a special form of equation: variable i bl = expression i v = INTEG(F)/m Programming languages usually do not allow equations!
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What is Modelica?
A language for modeling of complex physical systems Robotics R b ti Automotive Aircrafts Satellites Power plants Systems biology
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What is Modelica?
A language for modeling of complex physical systems
Primary designed for simulation, but there are also other usages of models, e.g. optimization.
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What is Modelica?
A language for modeling of complex physical systems
i.e., Modelica is not a tool
Free, open language specification:
There exist several free and commercial tools, for example:
OpenModelica from OSMC
MathModelica by MathCore Dymola by Dassault systems / Dynasim SimulationX by ITI MapleSim by MapleSoft Available at: www.modelica.org
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Modelica The Next Generation Modeling Language
Declarative language
Equations and mathematical functions allow acausal modeling, high level specification, increased correctness
Multi-domain modeling
Combine electrical, mechanical, thermodynamic, hydraulic, biological, control, event, real-time, etc...
Everything is a class
Strongly typed object-oriented language with a general class concept, Java & MATLAB-like syntax
Visual component programming
Hierarchical system architecture capabilities
Efficient, non-proprietary
Efficiency comparable to C; advanced equation compilation, e.g. 300 000 equations, ~150 000 lines on standard PC
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Modelica The Next Generation Modeling Language High level language
MATLAB-style array operations; Functional style; iterators, constructors, object orientation, equations, etc.
MATLAB similarities
MATLAB-like array and scalar arithmetic, but strongly typed and
efficiency comparable to C.
Non-Proprietary
Open Language Standard Both B th Open-Source O S and dC Commercial i li implementations l t ti
Flexible and powerful external function facility
LAPACK interface effort started
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Modelica Language Properties Declarative and Object-Oriented Equation-based; continuous and discrete equations Parallel process modeling of real-time applications, according to synchronous data flow principle Functions with algorithms without global side-effects (but local data updates allowed) Type system inspired by Abadi/Cardelli Everything is a class Real, Integer, models, functions, packages, parameterized classes....
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Object Oriented Mathematical Modeling with Modelica The static declarative structure of a mathematical model is emphasized OO is primarily used as a structuring concept OO is not viewed as dynamic object creation and sending messages Dynamic model properties are expressed in a declarative way through equations. Acausal classes supports better reuse of modeling and design knowledge than traditional classes
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Brief Modelica History First Modelica design group meeting in fall 1996
International group of people with expert knowledge in both language design and physical modeling Industry and academia
Modelica Versions
1.0 released September 1997 2.0 released March 2002 2.2 released March 2005 3 0 released 3.0 l dS September t b 2007 3.1 released May 2009
Modelica Association established 2000
Open, non-profit organization
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Modelica Conferences
The 1st International Modelica conference October, 2000 The 2nd International Modelica conference March 18-19, 2002 The 3rd International Modelica conference November 5-6, 2003 in Linkping, Sweden The 4th International Modelica conference March 6-7, 2005 in Hamburg, Germany The 5th International Modelica conference September 4-5, 2006 in Vienna, Austria The 6th International Modelica conference March 3-4, 2008 in Bielefeld, Germany The 7th International Modelica conference Sept 21-22, 2009 in Como, Italy
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Exercises Part I HandsHands -on graphical modeling (20 minutes)
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Graphical Modeling Using Drag and Drop Composition
Courtesy MathCore Engineering AB
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Exercises Part I Basic Graphical Modeling
(See instructions on next two pages) Start the simForge editor Draw the RL-Circuit Simulate
R1
R=10 R=100 A C
L
L=1 L=0.1
The RL-Circuit
G
Simulation
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Exercises Part I simForge Instructions Page 1
Start simForge, (e.g. SimForge-0.9.RC2.jar). Go to File menu and choose New Project. Write RL_Circuit and click on the Browse button for choosing the destination folder. Press OK. In the navigation bar in the left, there should be three items, Modelica, IEC61131-3 and Simulation result. Double-click on the Modelica.
Under the Modelica : The standard Modelica library components are listed in the Used external package. The Modelica classes and Modelica files are the places where your models will end up under. The first folder is for the graphical models and the latter is for the texual form.
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Exercises Part I simForge Instructions Page 2
Go to File menu and choose New File. Write RL_circuit and press OK. In the Add Class pop-up dialog box change the Type from package to class and press OK. Double click on the RL_circuit under the Modelica classes and the graphical window will appear. Drag and Drop components from the standard Modelica library to your model. For connecting components, move the cursor to the target pin and press shift+click once and just move the cursor with the mouse to the destination pin and press again shift+click. Start the simulation with simulation button. In the simulation pop-up you can leave out some fields like the Stop time, which will result in a default value of 1 sec. will be used.
Under the Edit menu -> Advanced properties you can tick i k the h visible i ibl legend l d bar. b
The result will appear under the Simulation result.
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