Principles of Object Object-Oriented Modeling and Simulation with Modelica

Peter Fritzson
Linkping University, [email protected]

Mohsen TorabzadehTorabzadeh-Tari
Linkping University, [email protected]

Martin Sjlund
Linkping University, [email protected]

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: [email protected] 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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