Introduction to Object-Oriented

Modeling, Simulation and Control

with Modelica
Tutorial, February 2012, at MODPROD
by

Peter Fritzson
Linköping University, [email protected]
Olena Rogovchenko
Linköping University, [email protected]

Slides
Based on book and lecture notes by Peter Fritzson
Contributions 2004-2005 by Emma Larsdotter Nilsson, Peter Bunus
Contributions 2006-2008 by Adrian Pop and Peter Fritzson
Contributions 2009 by David Broman, Peter Fritzson, Jan Brugård,
and Mohsen Torabzadeh-Tari
Contributions 2010 by Peter Fritzson
Contributions 2011 by Peter F., Mohsen T,. Adeel Asghar

2012-02-07

Tutorial Based on Book, 2004

Download OpenModelica Software
Peter Fritzson
Principles of Object Oriented
Modeling and Simulation with
Modelica 2.1

Wiley-IEEE Press, 2004, 940 pages

• OpenModelica
• www.openmodelica.org

• Modelica Association
• www.modelica.org

2 Copyright © Open Source Modelica Consortium

1
 New Introductory
Modelica Book

September 2011
232 pages

Wiley
IEEE Press

For Introductory
Short Courses on
Object Oriented
Mathematical Modeling

3 Copyright © Open Source Modelica Consortium

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, Peter Bunus, David
Broman, Jan Brugård, Mohsen-Torabzadeh-Tari, Adeel
Asghar for contributions to these slides.
• Most examples and figures in this tutorial are adapted with
permission from Peter Fritzson’s book ”Principles of Object
Oriented Modeling and Simulation with Modelica 2.1”,
copyright Wiley-IEEE Press
• Some examples and figures reproduced with permission
from Modelica Association, Martin Otter, Hilding Elmqvist,
and MathCore
• Modelica Association: www.modelica.org
• OpenModelica: www.openmodelica.org

4 Copyright © Open Source Modelica Consortium

2
 Outline

Part I Part II
Introduction to Modelica and a Modelica environments
demo example

Part III Part IV

Modelica language concepts Graphical modeling and the
and textual modeling Modelica standard library

5 Copyright © Open Source Modelica Consortium

Detailed Schedule
09:00 - Introduction to Modeling and Simulation
• Start installation of OpenModelica including OMEdit graphic editor
09:10 - Modelica – The Next Generation Modeling Language
09:25 - Exercises Part I (15 minutes)
• Short hands-on exercise on graphical modeling using OMEdit– RL Circuit
09:50 – Part II: Modelica Environments and the OpenModelica Environment
10:10 – Part III: Modelica Textual Modeling
10:15 - Exercises Part IIIa (30 minutes)
• Hands-on exercises on textual modeling using the OpenModelica environment
10:45 – Coffee Break
11:00 - Modelica Discrete Events and Hybrid Properties
11:15 - Exercises Part IIIb (10 minutes)
• Hands-on exercises on textual modeling using the OpenModelica environment
11:25 – Part IV: Components, Connectors and Connections
- Modelica Libraries
11:45 - Graphical Modeling using OpenModelica
12:00 - Exercises Part IV (30 minutes) – DCMotor etc.
• Hands-on exercises on graphical modeling using OpenModelica

6 Copyright © Open Source Modelica Consortium

3
 Software Installation - Windows

• Start the software installation

• Install OpenModelica-1.8.0.msi from the USB Stick

7 Copyright © Open Source Modelica Consortium

Software Installation – Linux (requires internet connection)

• Go to
https://openmodelica.org/index.php/download/down
load-linux and follow the instructions.

8 Copyright © Open Source Modelica Consortium

4
 Software Installation – MAC (requires internet connection)

• Go to
https://openmodelica.org/index.php/download/down
load-mac and follow the instructions or follow the
instructions written below.
• The installation uses MacPorts. After setting up a
MacPorts installation, run the following commands
on the terminal (as root):
• echo rsync://build.openmodelica.org/macports/ >>
/opt/local/etc/macports/sources.conf # assuming you installed into /opt/local
• port selfupdate
• port install openmodelica-devel

9 Copyright © Open Source Modelica Consortium

Part I

Introduction to Modelica and

a demo example

10 Copyright © Open Source Modelica Consortium

5
 Modelica Background: 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

11 Copyright © Open Source Modelica Consortium

Modelica Background: 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 = expression
v = INTEG(F)/m

Programming languages usually do not allow equations!

12 Copyright © Open Source Modelica Consortium

6
 What is Modelica?

A language for modeling of complex physical systems

• Robotics
• Automotive
• Aircrafts
• Satellites
• Power plants
• Systems biology

13 Copyright © Open Source Modelica Consortium

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.

14 Copyright © Open Source Modelica Consortium

7
 What is Modelica?

A language for modeling of complex physical systems

i.e., Modelica is not a tool

Free, open language

There exist several free and commercial
specification:
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

15 Copyright © Open Source Modelica Consortium

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

16 Copyright © Open Source Modelica Consortium

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 Modelica Acausal Modeling

What is acausal modeling/design?

Why does it increase reuse?
The acausality makes Modelica library classes more
reusable than traditional classes containing assignment
statements where the input-output causality is fixed.
Example: a resistor equation:
R*i = v;
can be used in three ways:
i := v/R;
v := R*i;
R := v/i;
17 Copyright © Open Source Modelica Consortium

What is Special about Modelica?

• Multi-Domain Modeling
• Visual acausal hierarchical component modeling
• Typed declarative equation-based textual language
• Hybrid modeling and simulation

18 Copyright © Open Source Modelica Consortium

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 What is Special about Modelica?

Multi-Domain
Modeling

19 Copyright © Open Source Modelica Consortium

What is Special about Modelica?

Multi-Domain Visual Acausal

Keeps the physical Hierarchical
Modeling
structure Component
Modeling

Acausal model
(Modelica)

Causal
block-based
model
(Simulink)

20 Copyright © Open Source Modelica Consortium

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 What is Special about Modelica?

Multi-Domain Hierarchical system Visual Acausal

Modeling modeling Hierarchical
k2

i
Component
qddRef
qdRef qRef k1 r3Control
r3Motor r3Drive1
cut joint
tn
axis6
Modeling
1 1
i 1
S S
qd axis5

qdRef Kd
S
0.03 rel

Jmotor=J joint=0
spring=c axis4
S
qRef pSum Kv sum w Sum rate2 rate3 iRef gear=i

fric=Rv0
+1 b(s) 340.8
0.3
- +1 - a(s) S

axis3

rate1 tacho2 tacho1

b(s) b(s) g5
PT1
a(s) a(s)
axis2
Rp2=50

Ra=250 La=(250/(2*D*w m))

qd
C=0.004*D/w m Rp1=200
Rd1=100

Srel = n*transpose(n)+(identity(3)-
Rd2=100 n*transpose(n))*cos(q)- axis1
Ri=10
skew(n)*sin(q); - -
-
wrela = n*qd; +
diff +
+
pow er
zrela = n*qdd; OpI

Sb = Sa*transpose(Srel);
Vs

Rd4=100
r0b = r0a; emf
Rd3=100

vb = Srel*va; g3
wb = Srel*(wa + wrela); y
ab = Srel*aa;
g1 x
inertial
zb = Srel*(za + zrela + cross(wa, wrela));
hall2

hall1 w r

Courtesy of Martin Otter

g2 qd
g4
q

21 Copyright © Open Source Modelica Consortium

What is Special about Modelica?

Multi-Domain Visual Acausal

Modeling Hierarchical
A textual class-based language
Component
OO primary used for as a structuring concept
Modeling
Behaviour described declaratively using
• Differential algebraic equations (DAE) (continuous-time)
• Event triggers (discrete-time)

Variable class VanDerPol "Van der Pol oscillator model"

declarations Real x(start = 1) "Descriptive string for x”;
Real y(start = 1) "y coordinate”;
parameter Real lambda = 0.3;
equation
Typed der(x) = y;
der(y) = -x + lambda*(1 - x*x)*y;
Declarative end VanDerPol;
Equation-based
Differential equations
Textual Language

22 Copyright © Open Source Modelica Consortium

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 What is Special about Modelica?

Multi-Domain Visual Acausal

Modeling Component
Modeling
Hybrid modeling =
continuous-time + discrete-time modeling

Continuous-time

Discrete-time

Typed
Declarative time
Hybrid
Equation-based Modeling
Textual Language

23 Copyright © Open Source Modelica Consortium

Modelica – Faster Development, Lower Maintenance

than with Traditional Tools

Block Diagram (e.g. Simulink, ...) or

Proprietary Code (e.g. Ada, Fortran, C,...)
vs Modelica

Causality
Systems
Derivation
Definition Modeling of
Subsystems (manual derivation of
System
Decomposition input/output relations) Implementation Simulation
Proprietary
Code

Block Diagram

Modelica

24 Copyright © Open Source Modelica Consortium

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 Modelica vs Simulink Block Oriented Modeling
Simple Electrical Model
Modelica: Keeps the Simulink:
Physical model – physical Signal-flow model – hard to
easy to understand structure understand

Res2 sum3 Ind l2

p p -1 1
R2 1/L
1 s

R1=10 R2=100
sum2
p
n n +1
+1
AC=220

p p sinln sum1 Res1 Cap l1

n +1 1
1/R1 1/C
-1 s
C=0.01 L=0.1

n n

p
G

25 Copyright © Open Source Modelica Consortium

Graphical Modeling - Using Drag and Drop Composition

26 Copyright © Open Source Modelica Consortium

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 Multi-Domain (Electro-Mechanical) Modelica Model

• A DC motor can be thought of as an electrical circuit which

also contains an electromechanical component
model DCMotor
Resistor R(R=100);
Inductor L(L=100);
VsourceDC DC(f=10);
Ground G;
ElectroMechanicalElement EM(k=10,J=10, b=2);
Inertia load;
equation R L
connect(DC.p,R.n); EM
connect(R.p,L.n); DC
connect(L.p, EM.n);
connect(EM.p, DC.n); load
connect(DC.n,G.p);
connect(EM.flange,load.flange); G
end DCMotor

27 Copyright © Open Source Modelica Consortium

Corresponding DCMotor Model Equations

The following equations are automatically derived from the Modelica model:

(load component not included)

Automatic transformation to ODE or DAE for simulation:

28 Copyright © Open Source Modelica Consortium

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 Model Translation Process to Hybrid DAE to Code

Modelica
Graphical Editor Modelica Modelica
Modelica Model Source code
Textual Editor Modelica Model

Frontend Translator
Modeling Flat model Hybrid DAE
Environment Analyzer
"Middle-end"
Sorted equations
Optimizer
Optimized sorted
equations
Backend Code generator
C Code
C Compiler
Executable
Simulation
29 Copyright © Open Source Modelica Consortium

Modelica in Power Generation

GTX Gas Turbine Power Cutoff Mechanism

Hello
Developed
by MathCore
for Siemens
Courtesy of Siemens Industrial Turbomachinery AB

30 Copyright © Open Source Modelica Consortium

15
 Modelica in Automotive Industry

31 Copyright © Open Source Modelica Consortium

Modelica in Avionics

32 Copyright © Open Source Modelica Consortium

16
 Modelica in Biomechanics

33 Copyright © Open Source Modelica Consortium

Application of Modelica in Robotics Models

Real-time Training Simulator for Flight, Driving
• Using Modelica models
generating real-time
code
• Different simulation
environments (e.g.
Flight, Car Driving,
Helicopter)
• Developed at DLR
Munich, Germany
• Dymola Modelica tool

Courtesy of Martin Otter, DLR,

Oberphaffenhofen, Germany

34 Copyright © Open Source Modelica Consortium

17
 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 September 2007
• 3.1 released May 2009
• 3.2 released March 2010
• 3.3 expected May 2012

• Modelica Association established 2000 in Linköping

• Open, non-profit organization

35 Copyright © Open Source Modelica Consortium

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
Linköping, 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
• The 8th International Modelica conference March 20-22, 2011 in Dresden,
Germany
• Coming: The 9th International Modelica conference Sept 3-5, 2012 in
Munich, Germany

36 Copyright © Open Source Modelica Consortium

18
 Exercises Part I
Hands-on graphical modeling
(15 minutes)

37 Copyright © Open Source Modelica Consortium

Exercises Part I – Basic Graphical Modeling

• (See instructions on next two pages)
• Start the OMEdit editor (part of OpenModelica)
• Draw the RLCircuit
• Simulate
R1 L

R=10
R=100 L=1
L=0.1
A
C

The RLCircuit Simulation

G

38 Copyright © Open Source Modelica Consortium

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 Exercises Part I – OMEdit Instructions (Part I)
• Start OMEdit from the Program menu under OpenModelica
• Go to File menu and choose New, and then select Model.
• E.g. write RLCircuit as the model name.
• For more information on how to use OMEdit, go to Help and choose
User Manual or press F1.

• Under the Modelica Library:

• Contains The standard Modelica library components
• The Modelica files contains the list of models you
have created.

39 Copyright © Open Source Modelica Consortium

Exercises Part I – OMEdit Instructions (Part II)

• For the RLCircuit model, browse the Modelica standard library and add
the following component models:
• Add Ground, Inductor and Resistor component models from
Modelica.Electrical.Analog.Basic package.
• Add SineVolagte component model from Modelica.Electrical.Analog.Sources
package.
• Make the corresponding connections between the component models
as shown in slide 37.
• Simulate the model
• Go to Simulation menu and choose simulate or click on the siumulate button in the
toolbar.
• Plot the instance variables
• Once the simulation is completed, a plot variables list will appear on the right side.
Select the variable that you want to plot.

40 Copyright © Open Source Modelica Consortium

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 Part II

Modelica environments and OpenModelica

41 Copyright © Open Source Modelica Consortium

Dymola

• Dynasim (Dassault Systemes)

• Sweden
• First Modelica tool on the market
• Main focus on automotive
industry
• www.dynasim.com

42 Copyright © Open Source Modelica Consortium

21
 Simulation X

• ITI
• Germany
• Mechatronic systems
• www.simulationx.com

43 Copyright © Open Source Modelica Consortium

MapleSim

• Maplesoft
• Canada
• Recent Modelica tool on the
market
• Integrated with Maple
• www.maplesoft.com

44 Copyright © Open Source Modelica Consortium

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 MathModelica – MathCore / Wolfram Research
• Wolfram Research
• USA, Sweden
• General purpose
• Mathematica integration
• www.wolfram.com
• www.mathcore.com

Mathematica

Simulation and
analysis
Courtesy Car model graphical view
Wolfram
Research

45 Copyright © Open Source Modelica Consortium

The OpenModelica Environment

www.OpenModelica.org

46 Copyright © Open Source Modelica Consortium

23
 OpenModelica (Part I)
• OpenModelica
• Open Source Modelica
Consortium (OSMC)
• Sweden and other countries
• Open source
• www.openmodelica.org

• OMEdit, graphical editor

• OMOptim, optimization subsystem

47 Copyright © Open Source Modelica Consortium

OpenModelica (Part II)

• Advanced Interactive Modelica compiler (OMC)
• Supports most of the Modelica Language
• Basic environment for creating models
• OMShell – an interactive command handler • ModelicaML UML Profile
• OMNotebook – a literate programming notebook • MetaModelica extension
• MDT – an advanced textual environment in Eclipse • ParModelica extension

48 Copyright © Open Source Modelica Consortium 48

24
OSMC – Open Source Modelica Consortium
40 organizational members February 2012
Founded Dec 4, 2007
Open-source community services
• Website and Support Forum
• Version-controlled source base
• Bug database
• Development courses
• www.openmodelica.org
Code Statistics

49 Copyright © Open Source Modelica Consortium

OSMC 40 Organizational Members, Feb 2012

(initially 7 members, 2007)
Companies and Institutes (22 members) Universities (18 members)
• ABB Corporate Research, Sweden • Linköping University, Sweden
• Bosch Rexroth AG, Germany • TU Berlin, Institute of UEBB, Germany
• Siemens PLM, California, USA • FH Bielefeld, Bielefeld, Germany
• Siemens Turbo Machinery AB, Sweden • TU Braunschweig, Institute of
• CDAC Centre for Advanced Computing, Kerala, Thermodynamics, Germany
India • TU Dortmund, Proc. Dynamics, Germany
• Creative Connections, Prague, Czech Republic • Technical University Dresden, Germany
• DHI, Aarhus, Denmark • Université Laval, modelEAU, Canada
• Evonik, Dehli, India • Georgia Institute of Technology, USA
• Equa Simulation AB, Sweden • Ghent University, Belgium
• Fraunhofer FIRST, Berlin, Germany • Griffith University, Australia
• Frontway AB, Sweden • Hamburg Univ. Technology/TuTech, Institute of
• IFP, Paris, France Thermo-Fluid, Germany
• InterCAX, Atlanta, USA • University of Ljubljana, Slovenia
• ISID Dentsu, Tokyo, Japan • University of Maryland, Inst. Systems
• MathCore Engineering/ Wolfram, Sweden Engineering, USA
• Maplesoft, Canada • University of Maryland, CEEE, USA
• TLK Thermo, Germany • Politecnico di Milano, Italy
• Sozhou Tongyuan Software and Control, China • Ecoles des Mines, ParisTech, CEP, France
• VI-grade, Italy • Mälardalen University, Sweden
• VTI, Linköping, Sweden • Telemark University College, Norway
• VTT, Finland
• XRG Simulation, Germany

50 Copyright © Open Source Modelica Consortium

25
 OMNotebook Electronic Notebook with DrModelica
• Primarily for teaching
• Interactive electronic book
• Platform independent

Commands:
• Shift-return (evaluates a cell)
• File Menu (open, close, etc.)
• Text Cursor (vertical), Cell
cursor (horizontal)
• Cell types: text cells &
executable code cells
• Copy, paste, group cells
• Copy, paste, group text
• Command Completion (shift-
tab)

51 Copyright © Open Source Modelica Consortium

OMnotebook Interactive Electronic Notebook

Here Used for Teaching Control Theory

52 Copyright © Open Source Modelica Consortium

26
 OpenModelica MDT – Eclipse Plugin
• Browsing of packages, classes, functions
• Automatic building of executables;
separate compilation
• Syntax highlighting
• Code completion,
Code query support for developers
• Automatic Indentation
• Debugger
(Prel. version for algorithmic subset)

53 Copyright © Open Source Modelica Consortium

OpenModelica MDT: Code Outline and Hovering Info

Identifier Info on
Hovering
Code Outline for
easy navigation within
54
Modelica files
Copyright © Open Source Modelica Consortium
54

27
 The OpenModelica MDT Debugger (Eclipse-based)
Using Japanese Characters

55 Copyright © Open Source Modelica Consortium

Interactive Simulation with OpenModelica

Examples of Simulation
Visualization
Simulation Control

Plot View

Requirements
Evaluation View
in ModelicaML

MaxLevel

Liquid
Source
Level h
Level h Domain-Specific
Visualization View
Tank 1 Tank 2

56 Copyright © Open Source Modelica Consortium

28
OMOptim – Optimization (1) Optimized
parameters
Model structure Model Variables Optimized
Objectives

57 Copyright © Open Source Modelica Consortium

Problems OMOptim – Optimization (2)

Solved problems Result plot Export result data .csv

58 Copyright © Open Source Modelica Consortium

29
 General Tool Interoperability & Model Exchange
Functional Mock-up Interface (FMI)
The FMI development is part of the MODELISAR 29-partner project
• FMI development initiated by Daimler
• Improved Software/Model/Hardware-in-the-Loop Simulation, of physical
models and of AUTOSAR controller models from different vendors for
automotive applications with different levels of detail.
• Open Standard
• 14 automotive use cases for evaluation
• > 10 tool vendors are supporting it

etc.

Engine Gearbox Thermal Automated Chassis components,

with ECU with ECU systems cargo door roadway, ECU (e.g. ESP)

functional mockup interface for model exchange and tool coupling

courtesy Daimler

59 Copyright © Open Source Modelica Consortium

OPENPROD – Large 28-partner European Project, 2009-2012

Vision of Cyber-Physical Model-Based Product Development

Feedback
System
Simulation
Business Requirements Model-Driven Compilation
Process Capture Design & Code Gen
Control (PIM) (PSM)
Software &
Syst Product
Process Requirements Product Platform
models models models models

Unified Modeling: Meta -modeling& Modelica& UML & OWL

OPENPROD Vision of unified modeling framework for model-driven

product development from platform independent models (PIM)
to platform specific models (PSM)

Current work based on Eclipse, UML/SysML, OpenModelica

60 Copyright © Open Source Modelica Consortium

30
 OpenModelica – ModelicaML UML Profile
SysML/UML to Modelica OMG Standardization

• ModelicaML is a UML Profile for SW/HW modeling

• Applicable to “pure” UML or to other UML profiles, e.g. SysML
• Standardized Mapping UML/SysML to Modelica
• Defines transformation/mapping for executable models
• Being standardized by OMG
• ModelicaML
• Defines graphical concrete syntax (graphical notation for diagram) for
representing Modelica constructs integrated with UML
• Includes graphical formalisms (e.g. State Machines, Activities,
Requirements)
• Which do not exist in Modelica language
• Which are translated into executable Modelica code
• Is defined towards generation of executable Modelica code
• Current implementation based on the Papyrus UML tool + OpenModelica

61 Copyright © Open Source Modelica Consortium

Example: Simulation and Requirements Evaluation

Req. 001 is instantiated 2 times (there are 2 tanks in

the system)

tank-height is 0.6m

Req. 001 for the tank2 is violated

Req. 001 for the tank1 is not violated

62 Copyright © Open Source Modelica Consortium

31
 OpenModelica – Recent Developments and Plans
• January 2012. OpenModelica 1.8.1 release with operator
overloading, faster compilation, ModelicaML with valuebindings
• 2012. Continued high priority on better support for the Modelica
standard library.
• Spring 2012. Support for larger models and improved simulation.
• February 2012. Shifting to bootstrapped OpenModelica compiler
for development.
• March 2011. Subset Fluid library flattening and simulating
• March 2012. Thermopower library simulating
• March 2011. Further improved support for MultiBody simulation.
• April 2011. Most of Fluid library flattening
• April-May 2011. Most of Media and Fluid libraries simulating
• May-June 2012. Integrated Modelica debugger.

63 Copyright © Open Source Modelica Consortium

Part III

Modelica language concepts

and textual modeling

Typed
Declarative Hybrid
Equation-based Modeling
Textual Language

64 Copyright © Open Source Modelica Consortium

32
 Acausal Modeling

The order of computations is not decided at modeling time

Acausal Causal

Visual
Component
Level

Equation A resistor equation: Causal possibilities:

Level R*i = v; i := v/R;
v := R*i;
R := v/i;

65 Copyright © Open Source Modelica Consortium

Typical Simulation Process

66 Copyright © Open Source Modelica Consortium

33
 Simple model - Hello World!

Name of model Initial condition

Equation: x’ = - x
Initial condition: x(0) = 1
model HelloWorld "A simple equation"
Continuous-time Real x(start=1);
parameter Real a = -1;
variable
equation
Parameter, constant der(x)= a*x;
end HelloWorld;
during simulation

Simulation in OpenModelica environment Differential equation

0.8
simulate(HelloWorld, stopTime = 2)
0.6
plot(x)
0.4

0.2

0.5 1 1.5 2

67 Copyright © Open Source Modelica Consortium

Modelica Variables and Constants

• Built-in primitive data types

Boolean true or false
Integer Integer value, e.g. 42 or –3
Real Floating point value, e.g. 2.4e-6
String String, e.g. “Hello world”
Enumeration Enumeration literal e.g. ShirtSize.Medium

• Parameters are constant during simulation

• Two types of constants in Modelica
• constant constant Real PI=3.141592653589793;
• parameter constant String redcolor = "red";
constant Integer one = 1;
parameter Real mass = 22.5;

68 Copyright © Open Source Modelica Consortium

34
 A Simple Rocket Model
thrust  mass  gravity
Rocket acceleration 
mass
thrust
mass    massLossRate  abs  thrust 
apollo13

mg altitude   velocity
velocity   acceleration

declaration
new model class Rocket "rocket class" comment
parameters (changeable parameter String name;
before the simulation) Real mass(start=1038.358);
Real altitude(start= 59404);
floating point Real velocity(start= -2003); start value
type Real acceleration;
Real thrust; // Thrust force on rocket
Real gravity; // Gravity forcefield
parameter Real massLossRate=0.000277; name + default value
equation
(thrust-mass*gravity)/mass = acceleration; mathematical
der(mass) = -massLossRate * abs(thrust); equation (acausal)
der(altitude) = velocity;
differentiation with der(velocity) = acceleration;
regards to time end Rocket;

69 Copyright © Open Source Modelica Consortium

Celestial Body Class

A class declaration creates a type name in Modelica

class CelestialBody
constant Real g = 6.672e-11;
parameter Real radius;
parameter String name;
parameter Real mass;
end CelestialBody;

An instance of the class can be

...
declared by prefixing the type CelestialBody moon;
name to a variable name ...

The declaration states that moon is a variable

containing an object of type CelestialBody

70 Copyright © Open Source Modelica Consortium

35
 Moon Landing
Rocket apollo13
thrust moon . g  moon .mass
apollo . gravity 
mg
apollo .altitude  moon .radius 2

altitude
CelestialBody

class MoonLanding
parameter Real force1 = 36350;
parameter Real force2 = 1308;
only access protected
inside the class parameter Real thrustEndTime = 210;
parameter Real thrustDecreaseTime = 43.2;
access by dot public
notation outside Rocket apollo(name="apollo13");
the class CelestialBody moon(name="moon",mass=7.382e22,radius=1.738e6);
equation
apollo.thrust = if (time < thrustDecreaseTime) then force1
else if (time < thrustEndTime) then force2
else 0;
apollo.gravity=moon.g*moon.mass/(apollo.altitude+moon.radius)^2;
end MoonLanding;

71 Copyright © Open Source Modelica Consortium

Simulation of Moon Landing

simulate(MoonLanding, stopTime=230)
plot(apollo.altitude, xrange={0,208})
plot(apollo.velocity, xrange={0,208})

30000
50 100 150 200
25000
-100
20000
-200
15000

10000 -300

5000 -400

50 100 150 200

It starts at an altitude of 59404 The rocket initially has a high

(not shown in the diagram) at negative velocity when approaching
time zero, gradually reducing it the lunar surface. This is reduced to
until touchdown at the lunar zero at touchdown, giving a smooth
surface when the altitude is zero landing

72 Copyright © Open Source Modelica Consortium

36
 Specialized Class Keywords
• Classes can also be declared with other keywords, e.g.: model, record,
block, connector, function, ...
• Classes declared with such keywords have specialized properties
• Restrictions and enhancements apply to contents of specialized classes
• After Modelica 3.0 the class keyword means the same as model

• Example: (Modelica 2.2). A model is a class that cannot be used as a

connector class
• Example: A record is a class that only contains data, with no equations
• Example: A block is a class with fixed input-output causality
model CelestialBody
constant Real g = 6.672e-11;
parameter Real radius;
parameter String name;
parameter Real mass;
end CelestialBody;

73 Copyright © Open Source Modelica Consortium

Modelica Functions

• Modelica Functions can be viewed as a specialized

class with some restrictions and extensions
• A function can be called with arguments, and is
instantiated dynamically when called

function sum
input Real arg1;
input Real arg2;
output Real result;
algorithm
result := arg1+arg2;
end sum;

74 Copyright © Open Source Modelica Consortium

37
 Function Call – Example Function with for-loop

Example Modelica function call: {1,2,3,4} becomes

... the value of the
p = polynomialEvaluator({1,2,3,4},21) coefficient vector A, and
21 becomes the value of
the formal parameter x.
function PolynomialEvaluator
input Real A[:]; // array, size defined
// at function call time
input Real x := 1.0;// default value 1.0 for x
The function
output Real sum;
protected PolynomialEvaluator
Real xpower; // local variable xpower computes the value of a
algorithm polynomial given two
sum := 0;
xpower := 1; arguments:
for i in 1:size(A,1) loop a coefficient vector A and
sum := sum + A[i]*xpower; a value of x.
xpower := xpower*x;
end for;
end PolynomialEvaluator;

75 Copyright © Open Source Modelica Consortium

Inheritance
parent class to Color

restricted kind record ColorData

of class without parameter Real red = 0.2;
equations parameter Real blue = 0.6;
Real green; class ExpandedColor
end ColorData; parameter Real red=0.2;
child class or parameter Real blue=0.6;
subclass
Real green;
class Color equation
keyword extends ColorData; red + blue + green = 1;
denoting equation
inheritance end ExpandedColor;
red + blue + green = 1;
end Color;

Data and behavior: field declarations, equations, and

certain other contents are copied into the subclass

76 Copyright © Open Source Modelica Consortium

38
 Multiple Inheritance

Multiple Inheritance is fine – inheriting both geometry and color

class Point
class Color Real x;
parameter Real red=0.2; Real y,z;
parameter Real blue=0.6; end Point;
Real green; class ColoredPoint
equation extends Point;
red + blue + green = 1; extends Color;
multiple inheritance
end Color; end ColoredPoint;

class ColoredPointWithoutInheritance
Real x;
Real y, z;
parameter Real red = 0.2; Equivalent to
parameter Real blue = 0.6;
Real green;
equation
red + blue + green = 1;
end ColoredPointWithoutInheritance;

77 Copyright © Open Source Modelica Consortium

Multiple Inheritance cont’

Only one copy of multiply inherited class Point is kept

class Point
Real x;
Real y;
end Point;

class VerticalLine class HorizontalLine

extends Point; extends Point;
Real vlength; Diamond Inheritance Real hlength;
end VerticalLine; end HorizontalLine;

class Rectangle
extends VerticalLine;
extends HorizontalLine;
end Rectangle;

78 Copyright © Open Source Modelica Consortium

39
 Simple Class Definition

• Simple Class Definition • Often used for

• Shorthand Case of Inheritance
introducing new
• Example: names of types:
class SameColor = Color;

type Resistor = Real;

Equivalent to:
connector MyPin = Pin;
class SameColor
inheritance extends Color;
end SameColor;

79 Copyright © Open Source Modelica Consortium

Inheritance Through Modification

• Modification is a concise way of combining inheritance

with declaration of classes or instances
• A modifier modifies a declaration equation in the
inherited class
• Example: The class Real is inherited, modified with a
different start value equation, and instantiated as an
altitude variable:

...
Real altitude(start= 59404);
...

80 Copyright © Open Source Modelica Consortium

40
 The Moon Landing - Example Using Inheritance (I)
Rocket
apollo13 thrust

mg model Rocket "generic rocket class"

extends Body;
altitude parameter Real massLossRate=0.000277;
CelestialBody Real altitude(start= 59404);
Real velocity(start= -2003);
Real acceleration;
Real thrust;
model Body "generic body" Real gravity;
Real mass; equation
String name; thrust-mass*gravity= mass*acceleration;
end Body; der(mass)= -massLossRate*abs(thrust);
der(altitude)= velocity;
der(velocity)= acceleration;
model CelestialBody
end Rocket;
extends Body;
constant Real g = 6.672e-11;
parameter Real radius;
end CelestialBody;

81 Copyright © Open Source Modelica Consortium

The Moon Landing - Example using Inheritance (II)

inherited
parameters

model MoonLanding
parameter Real force1 = 36350;
parameter Real force2 = 1308;
parameter Real thrustEndTime = 210;
parameter Real thrustDecreaseTime = 43.2;
Rocket apollo(name="apollo13", mass(start=1038.358) );
CelestialBody moon(mass=7.382e22,radius=1.738e6,name="moon");
equation
apollo.thrust = if (time<thrustDecreaseTime) then force1
else if (time<thrustEndTime) then force2
else 0;
apollo.gravity =moon.g*moon.mass/(apollo.altitude+moon.radius)^2;
end Landing;

82 Copyright © Open Source Modelica Consortium

41
 Inheritance of Protected Elements
If an extends-clause is preceded by the protected keyword,
all inherited elements from the superclass become protected
elements of the subclass
class ColoredPoint
class Point protected
Real x; extends Color;
class Color
Real y,z; public
Real red;
end Point; extends Point;
Real blue;
Real green; end ColoredPoint;
equation
red + blue + green = 1; Equivalent to
end Color;
class ColoredPointWithoutInheritance
The inherited fields from Point keep Real x;
Real y,z;
their protection status since that protected Real red;
extends-clause is preceded by protected Real blue;
public protected Real green;
equation
red + blue + green = 1;
A protected element cannot be end ColoredPointWithoutInheritance;
accessed via dot notation!
83 Copyright © Open Source Modelica Consortium

Exercises Part II
(30 minutes)

84 Copyright © Open Source Modelica Consortium

42
 Exercises Part II

• Start OMNotebook (part of OpenModelica)

• Start->Programs->OpenModelica->OMNotebook
• Open File: Exercises-ModelicaTutorial.onb from the directory you copied
your tutorial files to.
• Note: The DrModelica electronic book has been automatically opened when
you started OMNotebook.

• Open Exercises-ModelicaTutorial.pdf (also

available in printed handouts)

85 Copyright © Open Source Modelica Consortium

Exercises 2.1 and 2.2 (See also next two pages)

• Open the Exercises-ModelicaTutorial.onb found in the
Tutorial directory you copied at installation.
• Exercise 2.1. Simulate and plot the HelloWorld example. Do
a slight change in the model, re-simulate and re-plot. Try
command-completion, val( ), etc.
class HelloWorld "A simple equation"
Real x(start=1);
equation simulate(HelloWorld, stopTime = 2)
der(x)= -x; plot(x)
end HelloWorld;

• Locate the VanDerPol model in DrModelica (link from

Section 2.1), using OMNotebook!
• Exercise 2.2: Simulate and plot VanDerPol. Do a slight
change in the model, re-simulate and re-plot.

86 Copyright © Open Source Modelica Consortium

43
 Exercise 2.1 – Hello World!

A Modelica “Hello World” model

Equation: x’ = - x class HelloWorld "A simple equation”
Initial condition: x(0) = 1 parameter Real a=-1;
Real x(start=1);
equation
der(x)= a*x;
end HelloWorld;

Simulation in OpenModelica environment

1

0.8 simulate(HelloWorld, stopTime = 2)

0.6
plot(x)

0.4

0.2

0.5 1 1.5 2

87 Copyright © Open Source Modelica Consortium

Exercise 2.2 – Van der Pol Oscillator

class VanDerPol "Van der Pol oscillator model"
Real x(start = 1) "Descriptive string for x"; // x starts at 1
Real y(start = 1) "y coordinate"; // y starts at 1
parameter Real lambda = 0.3;
equation
der(x) = y; // This is the 1st diff equation //
der(y) = -x + lambda*(1 - x*x)*y; /* This is the 2nd diff equation */
end VanDerPol;

simulate(VanDerPol,stopTime = 25)
1
plotParametric(x,y)

-2 -1 1 2

-1

-2

88 Copyright © Open Source Modelica Consortium

44
 Exercise 2.3 – DAE Example

Include algebraic equation class DAEexample

Real x(start=0.9);
Algebraic equations contain Real y;
no derivatives equation
der(y)+(1+0.5*sin(y))*der(x)
Exercise: Locate in DrModelica. = sin(time);
Simulate and plot. Change x - y = exp(-0.9*x)*cos(y);
end DAEexample;
the model, simulate+plot.
Simulation in OpenModelica environment
1.20

1.15 simulate(DAEexample, stopTime = 1)

1.10
plot(x)
1.05

1.0 time
0.2 0.4 0.6 0.8 1
0.95

0.90

89 Copyright © Open Source Modelica Consortium

Exercise 2.4 – Model the system below

• Model this Simple System of Equations in Modelica

90 Copyright © Open Source Modelica Consortium

45
 Exercise 2.5 – Functions

• a) Write a function, sum2, which calculates the sum

of Real numbers, for a vector of arbitrary size.

• b) Write a function, average, which calculates the

average of Real numbers, in a vector of arbitrary
size. The function average should make use of a
function call to sum2.

91 Copyright © Open Source Modelica Consortium

Discrete Events and Hybrid Systems

Picture: Courtesy Hilding Elmqvist

92 Copyright © Open Source Modelica Consortium

46
 Hybrid Modeling
Hybrid modeling = continuous-time + discrete-time modeling

Continuous-time Real x;
Voltage v;
Current i;

Discrete-time
discrete Real x;
Integer i;
Boolean b;
time
Events
• A point in time that is instantaneous, i.e., has zero duration
• An event condition so that the event can take place
• A set of variables that are associated with the event
• Some behavior associated with the event,
e.g. conditional equations that become active or are deactivated at
the event

93 Copyright © Open Source Modelica Consortium

Event creation – if

if-equations, if-statements, and if-expressions

if <condition> then model Diode "Ideal diode"

<equations> extends TwoPin;
Real s;
False if s<0
elseif <condition> then
<equations> Boolean off;
else equation If-equation choosing
<equations> off = s < 0;
if off then
equation for v
end if;
v=s
else
v=0; If-expression
end if;
i = if off then 0 else s;
end Diode;

94 Copyright © Open Source Modelica Consortium

47
 Event creation – when

when-equations
when <conditions> then
<equations> time
end when; event 1 event 2 event 3

Equations only active at event times

Time event State event

when time >= 10.0 then
when sin(x) > 0.5 then
...
...
end when;
end when;

Only dependent on time, can be Related to a state. Check for

scheduled in advance zero-crossing

95 Copyright © Open Source Modelica Consortium

Generating Repeated Events

sample(t0,d)
The call sample(t0,d) returns
true and triggers events at times true
t0+i*d, where i=0,1, …
false time
t0 t0+d t0+2d t0+3d t0+4d
Variables need to be
discrete
model SamplingClock Creates an event
Integer i;
discrete Real r;
after 2 s, then
equation each 0.5 s
when sample(2,0.5) then
i = pre(i)+1;
r = pre(r)+0.3;
end when;
end SamplingClock; pre(...) takes the
previous value
before the event.

96 Copyright © Open Source Modelica Consortium

48
 Reinit - discontinuous changes
The value of a continuous-time state variable can be instantaneously
changed by a reinit-equation within a when-equation

model BouncingBall "the bouncing ball model"

parameter Real g=9.81; //gravitational acc.
parameter Real c=0.90; //elasticity constant
Real height(start=10),velocity(start=0);
equation
der(height) = velocity;
der(velocity)=-g;
when height<0 then
reinit(velocity, -c*velocity);
end when;
end BouncingBall;

Initial conditions
Reinit ”assigns”
continuous-time variable
velocity a new value

97 Copyright © Open Source Modelica Consortium

Exercise 2.6 – BouncingBall

• Locate the BouncingBall model in one of the hybrid

modeling sections of DrModelica (the When-
Equations link in Section 2.9), run it, change it
slightly, and re-run it.

98 Copyright © Open Source Modelica Consortium

49
 Part IV

Components, Connectors and Connections –

Modelica Libraries and Graphical Modeling

99 Copyright © Open Source Modelica Consortium

Software Component Model

Interface Acausal coupling
Connector

Component Connection Component

Causal coupling

A component class should be defined independently of the

environment, very essential for reusability
A component may internally consist of other components, i.e.
hierarchical modeling
Complex systems usually consist of large numbers of
connected components

100 Copyright © Open Source Modelica Consortium

50
 Connectors and Connector Classes

Connectors are instances of connector classes

electrical connector

connector class connector Pin

Voltage v; v +
keyword flow flow Current i;
indicates that currents
pin
end Pin;
of connected pins i
sum to zero.
Pin pin;
an instance pin
of class Pin
mechanical connector

connector class connector Flange

Position s;
flow Force f; s
end Flange; flange
f
an instance flange Flange flange;
of class Flange

101 Copyright © Open Source Modelica Consortium

The flow prefix

Two kinds of variables in connectors:

• Non-flow variables potential or energy level
• Flow variables represent some kind of flow
Coupling
• Equality coupling, for non-flow variables
• Sum-to-zero coupling, for flow variables

The value of a flow variable is positive when the current

or the flow is into the component
v
pin
positive flow direction:
i +

102 Copyright © Open Source Modelica Consortium

51
 Physical Connector

• Classes Based on Energy Flow

Domain Potential Flow Carrier Modelica
Type Library
Electrical.
Electrical Voltage Current Charge
Analog
Mechanical.
Translational Position Force Linear momentum Translational
Angular Mechanical.
Rotational Angle Torque
momentum Rotational
Magnetic Magnetic
Magnetic Magnetic flux
potential flux rate
Hydraulic Pressure Volume flow Volume HyLibLight
Heat Temperature Heat flow Heat HeatFlow1D
Chemical Under
Chemical Particle flow Particles
potential construction

Pneumatic Pressure Mass flow Air PneuLibLight

103 Copyright © Open Source Modelica Consortium

connect-equations
Connections between connectors are realized as equations in Modelica
connect(connector1,connector2)

The two arguments of a connect-equation must be references to

connectors, either to be declared directly within the same class or be
members of one of the declared variables in that class

+ v v +
pin1 pin2
i i

Pin pin1,pin2;
//A connect equation
//in Modelica:
connect(pin1,pin2);
Corresponds to pin1.v = pin2.v;
pin1.i + pin2.i =0;

104 Copyright © Open Source Modelica Consortium

52
 Connection Equations

Pin pin1,pin2;
//A connect equation
//in Modelica
connect(pin1,pin2);
Corresponds to pin1.v = pin2.v;
pin1.i + pin2.i =0;

Multiple connections are possible:

connect(pin1,pin2); connect(pin1,pin3); ... connect(pin1,pinN);

Each primitive connection set of nonflow variables is

used to generate equations of the form:

v1  v2  v3   vn
Each primitive connection set of flow variables is used to generate
sum-to-zero equations of the form:
i1  i2   (  ik )   in  0

105 Copyright © Open Source Modelica Consortium

Common Component Structure

The base class TwoPin has

two connectors p and n for p.v i + TwoPin
n
- i n.v
p
positive and negative pins p.i n.i
respectively i

partial class partial model TwoPin

(cannot be Voltage v connector Pin electrical connector class
instantiated) Current i Voltage v;
positive pin Pin p; flow Current i;
negative pin Pin n; end Pin;
equation
v = p.v - n.v;
0 = p.i + n.i;
i = p.i;
end TwoPin;
// TwoPin is same as OnePort in
// Modelica.Electrical.Analog.Interfaces

106 Copyright © Open Source Modelica Consortium

53
 Electrical Components
model Resistor ”Ideal electrical resistor”
extends TwoPin; p.i n.i
parameter Real R; +
equation
p.v n.v
R*i = v; v
end Resistor;

model Inductor ”Ideal electrical inductor”

extends TwoPin; p.i n.i
parameter Real L ”Inductance”; +
equation
p.v n.v
L*der(i) = v; v
end Inductor;

model Capacitor ”Ideal electrical capacitor”

extends TwoPin; p.i n.i
parameter Real C ; +
equation p.v n.v
i=C*der(v); v
end Capacitor;

107 Copyright © Open Source Modelica Consortium

Electrical Components cont’

model Source
extends TwoPin; v(t)
p.i n.i
parameter Real A,w;
+
equation
v = A*sin(w*time); p.v n.v
end Resistor;

model Ground
Pin p; p.v p.i
equation
p.v = 0;
end Ground;

108 Copyright © Open Source Modelica Consortium

54
 Resistor Circuit

i1 i2
n R1 p p R2 n
v1 v2

v3
p R3 n
i3

model ResistorCircuit
Resistor R1(R=100);
Resistor R2(R=200);
Resistor R3(R=300);
equation R1.p.v = R2.p.v;
connect(R1.p, R2.p); Corresponds to
R1.p.v = R3.p.v;
connect(R1.p, R3.p); R1.p.i + R2.p.i + R3.p.i = 0;
end ResistorCircuit;

109 Copyright © Open Source Modelica Consortium

Modelica Standard Library - Graphical Modeling

• Modelica Standard Library (called Modelica) is a

standardized predefined package developed by
Modelica Association

• It can be used freely for both commercial and

noncommercial purposes under the conditions of
The Modelica License.

• Modelica libraries are available online including

documentation and source code from
http://www.modelica.org/library/library.html

110 Copyright © Open Source Modelica Consortium

55
 Modelica Standard Library cont’

The Modelica Standard Library contains components from

various application areas, including the following sublibraries:
• Blocks Library for basic input/output control blocks
• Constants Mathematical constants and constants of nature
• Electrical Library for electrical models
• Icons Icon definitions
• Fluid 1-dim Flow in networks of vessels, pipes, fluid machines, valves, etc.
• Math Mathematical functions
• Magnetic Magnetic.Fluxtubes – for magnetic applications
• Mechanics Library for mechanical systems
• Media Media models for liquids and gases
• SIunits Type definitions based on SI units according to ISO 31-1992
• Stategraph Hierarchical state machines (analogous to Statecharts)
• Thermal Components for thermal systems
• Utilities Utility functions especially for scripting

111 Copyright © Open Source Modelica Consortium

Modelica.Blocks

Continuous, discrete, and logical input/output blocks

to build block diagrams.

Library

Continuous

Examples:

112 Copyright © Open Source Modelica Consortium

56
 Modelica.Electrical

Electrical components for building analog, digital, and

multiphase circuits

Library Library Library Library

Analog Digital Machines MultiPhase

Examples:
V2

R2 R4

Gnd9

C2 Gnd3 Gnd6 C4
R1 Transistor1 Transistor2 R3

V1 C1 I1 C5 C3 Gnd4

Gnd1 Gnd2 Gnd7 Gnd8 Gnd5

113 Copyright © Open Source Modelica Consortium

Modelica.Mechanics

Package containing components for mechanical systems

Subpackages:
• Rotational 1-dimensional rotational mechanical components
• Translational 1-dimensional translational mechanical components
• MultiBody 3-dimensional mechanical components

114 Copyright © Open Source Modelica Consortium

57
 Modelica.Stategraph

Hierarchical state machines (similar to Statecharts)

115 Copyright © Open Source Modelica Consortium

Other Free Libraries

• WasteWater Wastewater treatment plants, 2003

• ATPlus Building simulation and control (fuzzy control included), 2005
• MotorCycleDymanics Dynamics and control of motorcycles, 2009
• NeuralNetwork Neural network mathematical models, 2006
• VehicleDynamics Dynamics of vehicle chassis (obsolete), 2003
• SPICElib Some capabilities of electric circuit simulator PSPICE, 2003
• SystemDynamics System dynamics modeling a la J. Forrester, 2007
• BondLib Bond graph modeling of physical systems, 2007
• MultiBondLib Multi bond graph modeling of physical systems, 2007
• ModelicaDEVS DEVS discrete event modeling, 2006
• ExtendedPetriNets Petri net modeling, 2002
• External.Media Library External fluid property computation, 2008
• VirtualLabBuilder Implementation of virtual labs, 2007
• SPOT Power systems in transient and steady-state mode, 2007
• ...

116 Copyright © Open Source Modelica Consortium

58
 Some Commercial Libraries

• Powertrain
• SmartElectricDrives
• VehicleDynamics
• AirConditioning
• HyLib
• PneuLib
• CombiPlant
• HydroPlant
• …

117 Copyright © Open Source Modelica Consortium

Connecting Components from Multiple Domains

• Block domain ind R1

1

• Mechanical domain emf

R2

ex ac iner vsen

• Electrical domain Block Mechanical Electrical

2

domain domain G domain

model Generator
Modelica.Mechanics.Rotational.Accelerate ac;
Modelica.Mechanics.Rotational.Inertia iner;
Modelica.Electrical.Analog.Basic.EMF emf(k=-1);
Modelica.Electrical.Analog.Basic.Inductor ind(L=0.1);
Modelica.Electrical.Analog.Basic.Resistor R1,R2;
Modelica.Electrical.Analog.Basic.Ground G;
Modelica.Electrical.Analog.Sensors.VoltageSensor vsens;
Modelica.Blocks.Sources.Exponentials ex(riseTime={2},riseTimeConst={1});
equation
connect(ac.flange_b, iner.flange_a); connect(iner.flange_b, emf.flange_b);
connect(emf.p, ind.p); connect(ind.n, R1.p); connect(emf.n, G.p);
connect(emf.n, R2.n); connect(R1.n, R2.p); connect(R2.p, vsens.n);
connect(R2.n, vsens.p); connect(ex.outPort, ac.inPort);
end Generator;

118 Copyright © Open Source Modelica Consortium

59
 DCMotor Model Multi-Domain (Electro-Mechanical)

A DC motor can be thought of as an electrical circuit

which also contains an electromechanical component.

model DCMotor
Resistor R(R=100);
Inductor L(L=100);
VsourceDC DC(f=10);
Ground G;
EMF emf(k=10,J=10, b=2);
Inertia load;
equation R L
connect(DC.p,R.n); emf
connect(R.p,L.n); DC
connect(L.p, emf.n);
connect(emf.p, DC.n); load
connect(DC.n,G.p);
connect(emf.flange,load.flange); G
end DCMotor;

119 Copyright © Open Source Modelica Consortium

Exercises Part IV
Graphical Modeling Exercises

using
OpenModelica

120 Copyright © Open Source Modelica Consortium

60
 Graphical Modeling - Using Drag and Drop Composition

121 Copyright © Open Source Modelica Consortium

Graphical Modeling Animation – DCMotor

122 Copyright © Open Source Modelica Consortium

61
 Multi-Domain (Electro-Mechanical) Modelica Model

• A DC motor can be thought of as an electrical circuit which

also contains an electromechanical component
model DCMotor
Resistor R(R=100);
Inductor L(L=100);
VsourceDC DC(f=10);
Ground G;
ElectroMechanicalElement EM(k=10,J=10, b=2);
Inertia load;
equation R L
connect(DC.p,R.n); EM
connect(R.p,L.n); DC
connect(L.p, EM.n);
connect(EM.p, DC.n); load
connect(DC.n,G.p);
connect(EM.flange,load.flange); G
end DCMotor

123 Copyright © Open Source Modelica Consortium

Corresponding DCMotor Model Equations

The following equations are automatically derived from the Modelica model:

(load component not included)

Automatic transformation to ODE or DAE for simulation:

124 Copyright © Open Source Modelica Consortium

62
 Exercise 3.1

• Draw the DCMotor model using the graphic connection

editor using models from the following Modelica
libraries:
Mechanics.Rotational.Components,
Electrical.Analog.Basic,
Electrical.Analog.Sources

• Simulate it for 15s and plot the R L

emf
variables for the outgoing u
rotational speed on the inertia
J
axis and the voltage on the
voltage source (denoted u in the G
figure) in the same plot.

125 Copyright © Open Source Modelica Consortium

Exercise 3.2
• If there is enough time: Add a torsional spring to the
outgoing shaft and another inertia element. Simulate
again and see the results. Adjust some parameters to
make a rather stiff spring.

126 Copyright © Open Source Modelica Consortium

63
 Exercise 3.3
• If there is enough time: Add a PI controller to the system
and try to control the rotational speed of the outgoing shaft.
Verify the result using a step signal for input. Tune the PI
controller by changing its parameters in OMEdit.

127 Copyright © Open Source Modelica Consortium

Exercise 3.4 – DrControl

• If there is enough time: Open the DrControl electronic book

about control theory with Modelica and do some exercises.
• Open File: C:OpenModelica1.6.0\share\omnotebook\drcontrol\DrControl.onb

128 Copyright © Open Source Modelica Consortium

64
 Learn more…

• OpenModelica
• www.openmodelica.org

• Modelica Association
• www.modelica.org

• Books
• Principles of Object Oriented Modeling and Simulation with
Modelica 2.1, Peter Fritzson
http://eu.wiley.com/WileyCDA/WileyTitle/productCd-
0471471631.html
• Modeling and Simulation of Technical and Physical
Systems with Modelica. Peter Fritzson.
http://eu.wiley.com/WileyCDA/WileyTitle/productCd-
111801068X.html
• Introduction to Modelica, Michael Tiller

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Summary

Multi-Domain Visual Acausal

Modeling Component
Modeling

Typed
Declarative Hybrid
Textual Language Thanks for listening! Modeling

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