Introduction to Object-Oriented

Modeling and Simulation

with Modelica and OpenModelica
Tutorial 2020-02-04
Peter Fritzson
Professor em. at Linköping University, [email protected]
Research Director at Programming Environments Lab
Vice Director of the Open Source Modelica Consortium
Vice Chairman of Modelica Association
Adrian Pop
Linköping University, [email protected]
Technical Coordinator of the Open Source Modelica Consortium

Slides
Based on book and lecture notes by Peter Fritzson
Contributions 2004-2005 by Emma Larsdotter Nilsson, Peter Bunus
Contributions 2006-2018 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,
Contributions 2012-2018 by Peter Fritzson, Lena Buffoni, Mahder
Gebremedhin, Bernhard Thiele, Lennart Ochel
Contributions 2019-2020 by Peter Fritzson, Arunkumar Palanisamy, Bernt
Lie, Adrian Pop
2020-02-04
 Tutorial Based on Book, December 2014
Download OpenModelica Software
Peter Fritzson
Principles of Object Oriented
Modeling and Simulation with
Modelica 3.3
A Cyber-Physical Approach

Can be ordered from Wiley or Amazon

Wiley-IEEE Press, 2014, 1250 pages

• OpenModelica
• www.openmodelica.org
• Modelica Association
• www.modelica.org

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 Introductory
Modelica Book
September 2011
232 pages

Translations
available in
Chinese,
Japanese,
Spanish

Wiley
IEEE Press

For Introductory
Short Courses on
Object Oriented
Mathematical Modeling

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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, Peter Bunus, David
Broman, Jan Brugård, Mohsen-Torabzadeh-Tari, Adeel
Asghar, Lena Buffoni, 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 3.3”,
copyright Wiley-IEEE Press
• Some examples and figures reproduced with permission
from Modelica Association, Martin Otter, Hilding Elmqvist,
Wolfram MathCore, Siemens
• Modelica Association: www.modelica.org
• OpenModelica: www.openmodelica.org

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 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

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 Software Installation - Windows

• Start the software installation

• Install OpenModelica-1.16.0 nightly build Download or from

the USB Stick (takes about 20min)

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 Software Installation – Linux (requires internet connection)

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

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 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

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Software Installation for OMSens – Python Anaconda

USB INSTALLATION

This is only needed for Sensitivity analysis feature

Install Anaconda3.exe from USB stick ( Windows 64 bit)

(takes about 20 min)

For other platforms, download from

Anaconda : https://www.anaconda.com/distribution/

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 Part I

Introduction to Modelica and

a demo example

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 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

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 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!

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 What is Modelica?

A language for modeling of complex cyber-physical systems

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

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 What is Modelica?

A language for modeling of complex cyber-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 cyber-physical systems

i.e., Modelica is not a tool
Free, open language
There exist one free and several
specification:
commercial tools, for example:
• OpenModelica from OSMC
(in ABB Optimax, Bosch-Rexr Control Edge Designer, Mike DHI)
• Dymola from Dassault systems
• Wolfram System Modeler from Wolfram MathCore
• SimulationX from ITI, part of ESI Group
• MapleSim from MapleSoft
(also in Altair solidThinking Activate)
• AMESIM from LMS
Available at: www.modelica.org • Optimica Toolkit from Modelon
(also in ANSYS Simplorer, etc.)
Developed and standardized • MWORKS from Tongyang Sw & Control
by Modelica Association • IDA Simulation Env, from Equa
•
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 Modelica – The Next Generation Modeling Language
Declarative statically typed language
Equations and mathematical functions allow acausal modeling,
high level specification and static type checking for increased correctness
Multi-domain modeling
Combine electrical, mechanical, thermodynamic, hydraulic,
biological, control, event, real-time, etc...
Everything is a class
Safe engineering practices by statically typed object-oriented language,
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 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;
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 What is Special about Modelica?

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

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 What is Special about Modelica?

Multi-Domain Cyber-Physical Modeling

3 domains
Modeling - electric
Physical - mechanics
- control

Cyber

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 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)

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 What is Special about Modelica?

Multi-Domain Hierarchical system Visual Acausal

Modeling modeling Hierarchical
k2 Component
i

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

q: angle
qd: angular velocity
qdRef Kd qdd: angular acceleration 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
skew(n)*sin(q); -
Ri=10
-
-
wrela = n*qd; + +

zrela = n*qdd; cut in diff +

OpI
pow er

Sb = Sa*transpose(Srel);
Vs

Rd4=100
r0b = r0a; emf

vb = Srel*va; iRef
Rd3=100

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

hall1 w r

Courtesy of Martin Otter

g4
g2 qd q

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 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

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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
Clocked discrete-time
Typed
Declarative time
Hybrid
Equation-based Modeling
Textual Language

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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

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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

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 Graphical Modeling - Using Drag and Drop Composition

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Graphical Modeling with OpenModelica Environment

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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

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 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:

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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
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 Modelica in Power Generation
GTX Gas Turbine Power Cutoff Mechanism

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

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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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 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

(Movie demo next page)

Courtesy of Tobias Bellmann, DLR,

Oberphaffenhofen, Germany

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 DLR Real-time Training Simulator Movie Demo

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 Combined-Cycle Power Plant
Plant model – system level
• GT unit, ST unit, Drum
boilers unit and HRSG units,
connected by thermo-fluid
ports and by signal buses

• Low-temperature parts
(condenser, feedwater
system, LP circuits) are
represented by trivial
boundary conditions.

• GT model: simple law

relating the electrical load
request with the exhaust gas
temperature and flow rate.
Courtesy Francesco Casella, Politecnico di Milano – Italy
and Francesco Pretolani, CESI SpA - Italy

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 Modelica Spacecraft Dynamics Library
Formation flying on elliptical orbits

Control the relative motion of two or more

spacecraft

Attitude control for satellites

using magnetic coils as actuators

Torque generation mechanism:

interaction between coils and
geomagnetic field
Courtesy of Francesco Casella, Politecnico di Milano, Italy

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 Large-scale ABB OpenModelica Application
Generate code for controlling 7.5 to 10% of German Power Production

ABB OPTIMAX PowerFit

• Real-time optimizing control of large-
scale virtual power plant for system
integration
• Software including OpenModelica now
used in managing more than 2500
renewable plants, total up to 1.5 GW
High scalability supporting growth
• 2012: initial delivery (for 50 plants)
• 2013: SW extension (500 plants)
• 2014: HW+SW extension (> 2000)
• 2015: HW+SW extension,
incl. OpenModelica generating optimizing
controller code in FMI 2.0 form
Manage 7.5% - 10% of German Power
• 2015, Aug: OpenModelica Exports FMUs
for real-time optimizing control (seconds)
of about 5.000 MW (7.5%) of power in
Germany
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 Industrial Product with OEM Usage of OpenModelica –
MIKE by DHI, WEST Water Quality, Water Treatment and Sludge

• MIKE by DHI, www.mikebydhi.com, WEST Water Quality modeling and

simulation environment
• Includes a large part of the OpenModelica compiler using the OEM license.
• Here a water treatment effluent and sludge simulation.

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 Most important challenge
for humanity -
Develop a sustainable society!

Use Modelica in to model and optimize

sustainable technical innovations,
and a sustainable circular economy

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 System Dynamics – World Society Simulation
Limits to Material Growth; Population, Energy and Material flows

Left. World3 simulation

with OpenModelica
• 2 collapse scenarios
(close to current
developments)
• 1 sustainable scenario
(green).
CO2 Emissions per
person:
• USA 17 ton/yr
• Sweden 7 ton/yr
• India 1.4 ton/yr
• Bangladesh 0.3 ton/yr

• System Dynamics Modelica library by Francois Cellier (ETH), et al in OM distribution.

• Warming converts many agriculture areas to deserts (USA, Europe, India, Amazonas)
• Ecological breakdown around 2080-2100, drastic reduction of world population
• To avoid this: Need for massive investments in sustainable technology and renewable
energy sources
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 Are Humans More Intelligent than Bacteria?

Not yet evident!

Humans
on a
finite
Earth

vs

Bacteria
on a
finite
substrate

Bacterial growth curve /kinetic curve (Wikipedia)

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World3 Simulations with Different Start Years
for Sustainable Policies – Collapse if starting too late

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How the world could be in 80-100 years Business-as-usual
at a global warming of 4 degrees scenario, IPCC
Cities, agriculture

Uninhabitable desert
Uninhabitable due
to extreme weather
Flooded

Massive migration to
to northern Europe,
Russia, and Canada

Example Emissions
CO2e / person
- Earth can handle 2 ton/yr
- Flight Spain – 1 ton
- Flight Canaryisl – 2 ton
Uninhabitable - Flight Thailand – 4 ton

Sea level rise 2 m References

flooding coastal cities New Scientist, 28 february 2009
IPCC, business as usual scenario
www.climate-lab-book.ac.uk
www.atmosfair.de
 What Can You Do?
Need Global Sustainability Mass Movement
• Develop smart Cyber-Physical systems for reduced energy and material footprint
• Model-based circular economy for re-use of products and materials
• Promote sustainable lifestyle and technology
• Install electric solar PV panels
• Buy shares in cooperative wind power

Expanded to 93 sqm, 12 kW, March 2013

20 sqm solar panels on garage roof, Nov 2012
House produced 11600 kwh, used 9500 kwh
Generated 2700 W at noon March 10, 2013
Avoids 10 ton CO2 emission per year

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 Example Electric Cars
Can be charged by electricity from own solar panels

Renault ZOE; 5 seat; Range:

22kwh (2014) vs 40 kwh battery (2017)
• Realistic Swedish drive cycle:
• Summer: 165 km, now 300 km
• Winter: 110 km, now 200 km
Cheap fast AC chargers (22kw, 43kw)

DLR ROboMObil 2018, Tesla Model 3 LR, range 560 km

• experimental electric car
• Modelica models Tesla Model S, range about 550 km

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 What Can You Do?
More Train Travel – Less Air Travel

• Air travel by Swedish Citizens

– about the same emissions Train
as all personal car traffic in travel
Sweden! Linköping
• By train from Linköping to - Munich
Munich and back – saves
almost 1 ton of CO2e
emissions compared to flight
• Leave Linköping 07.00
in Munich 23.14
More Examples, PF travel 2016:
• Train Linköping-Paris, Dec 3-
6, EU project meeting
• Train Linköping-Dresden,
Dec 10-16, 1 week workshop

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 Small rectangles – surface needed
for 100% solar energy for humanity

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 Solar Energy PhotoVoltaics Growth Trends

Almost
Exponential
worldwide
Growth of
Photovoltaics
2006 – 2018

IEA PVPS
TRENDS IN
PHOTOVOLTAIC 2018 2.5% solar
APPLICATIONS
2019
100% of global electricity
production year 2030 if
strong exponential growth
continues

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Sustainable Society Necessary for Human Survival

Almost Sustainable
• India, recently 1.4 ton C02/person/year
• Healthy vegetarian food
• Small-scale agriculture
• Small-scale shops
• Simpler life-style (Mahatma Gandhi)
Non-sustainable
• USA 17 ton CO2, Sweden 7 ton CO2/yr
• High meat consumption (1 kg beef uses ca
4000 L water for production)
• Hamburgers, unhealthy , includes beef
• Energy-consuming mechanized agriculture Gandhi – role model for
• Transport dependent shopping centres future less materialistic
life style
• Stressful materialistic lifestyle
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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 September 2007
• 3.1 released May 2009
• 3.2 released March 2010
• 3.3 released May 2012
• 3.2 rev 2 released November 2013
• 3.3 rev 1 released July 2014
• 3.4 released April 2017
• Modelica Association established 2000 in Linköping
• 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 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
• The 9th International Modelica conference Sept 3-5, 2012 in Munich, Germany
• The 10th International Modelica conference March 10-12, 2014 in Lund, Sweden
• The 11th International Modelica conference Sept 21-23, 2015 in Versailles, Paris
• The 12th International Modelica conference May 15-17, 2017 in Prague, Czech Rep
• The 13th International Modelica conference March 4-6, 2019, Regensburg, Germany
• Also: Japanese Modelica conferences 2016, 2017, 2018, 2020
• Also: US Modelica conference 2018, 2020
• Coming: 14th International Modelica conference May, 2021, Linköping, Sweden
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 Exercises Part I
Hands-on graphical modeling
(15 minutes)

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 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
AC

The RLCircuit Simulation

G

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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 Modelica Class, 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.

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 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 SineVoltage component model from Modelica.Electrical.Analog.Sources package.
• Make the corresponding connections between the component models as
shown in the previous slide.
• To draw a connection line: first single-click on a connector box; then start
drawing while keeping the mouse button down; after drawing a little you can
release the mouse button and continue drawing.
• Simulate the model
• Go to the Simulation menu and choose simulate or click on the simulate 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.

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 Part II

Modelica environments and OpenModelica

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 Dymola

• Dassault Systemes Sweden

• Sweden
• First Modelica tool on the market
• Initial main focus on automotive
industry
• www.dymola.com

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 Wolfram System Modeler – Wolfram MathCore

• 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

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 Simulation X

• ITI Gmbh (Part of ESI Group)

• Germany
• Mechatronic systems
• www.simulationx.com

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 MapleSim

• Maplesoft
• Canada
• Integrated with Maple
• www.maplesoft.com

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 Modelon

• Modelon
• Sweden and International
• Library Suite
• Creator Suite with Optimica Compiler Toolbox
and WAMS model editor
• www.modelon.com

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 The OpenModelica Environment
www.OpenModelica.org

65 Copyright © Open Source Modelica Consortium

 OpenModelica – Free Open Source Tool
developed by the Open Source Modelica Consortium (OSMC)
• Graphical editor
• Model compiler
and simulator
• Debugger
EngineV6 11116
• Performance
equation model
analyzer
• Dynamic optimizer
• Symbolic modeling
• Parallelization
• Electronic
Notebook and
OMWebbook
for teaching
• Spokentutorial for
teaching

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 The OpenModelica Open Source Environment
www.openmodelica.org
• Advanced Interactive Modelica compiler (OMC) • OMEdit graphic Editor
• Supports most of the Modelica Language • OMDebugger for equations
• Modelica, Python, Julia scripting • OMOptim optimization tool
• OM Dynamic optimizer collocation
• OMSimulator – FMI Simulation/Co-simulation
• ModelicaML UML Profile
• Basic environment for creating models • MetaModelica extension
• OMShell – an interactive command handler • ParModelica extension
• OMNotebook – a literate programming notebook
• MDT – an advanced textual environment in Eclipse

67 Copyright © Open Source Modelica Consortium Usage: Creative Commons with attribution CC-BY 67
OSMC – International Consortium for Open Source
Model-based Development Tools, 51 members Dec 2019
Industrial members
Founded Dec 4, 2007 • ABB AB, Sweden • RTE France, Paris, France
• Bosch Rexroth AG, Germany • Saab AB, Linköping, Sweden
Open-source community services • CDAC Centre, Kerala, India • SKF, Göteborg, Sweden
• Creative Connections, Prague • SmartFluidPower, Italy,
• Website and Support Forum • DHI, Aarhus, Denmark • TLK Thermo, Germany
• Dynamica s.r.l., Cremona, Italy • Siemens Turbo, Sweden
• Version-controlled source base • EDF, Paris, France • Sozhou Tongyuan, China
• Equa Simulation AB, Sweden • SRON Space Ins Netherlands
• Bug database • Fraunhofer IWES, Bremerhaven • Talent Swarm, Spain
• VTI, Linköping, Sweden
• Development courses • INRIA, Rennes, France
• VTT, Finland
• ISID Dentsu, Tokyo, Japan
• www.openmodelica.org • Maplesoft, Canada

Code Statistics University members

• Augsburg University, Germany • TU Hamburg/Harburg Germany
• FH Bielefeld, Bielefeld, Germany • IIT Bombay, Mumbai, India
• University of Bolivar, Colombia • K.L. Univ, Waddeswaram, India
• TU Braunschweig, Germany • KTH, Stockholm, Sweden
• Chalmers Univ, Control,Sweden • Linköping University, Sweden
• Chalmers Univ, Machine, Sweden • Univ of Maryland, Syst Eng USA
• TU Darmstadt, Germany • Univ of Maryland, CEEE, USA
• TU Delft, The Netherlands • Politecnico di Milano, Italy
• TU Dresden, Germany • Ecoles des Mines, CEP, France
• Université Laval, Canada • Mälardalen University, Sweden
• Georgia Inst of Technology, USA • RPI, Troy, USA
• Ghent University, Belgium • Univ Pisa, Italy
• Halmstad University, Sweden • Univ College SouthEast Norway
• Heidelberg University, Germany • Tsinghua Univ, Beijing, China
• Vanderbilt Univ, USA

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 Build System with Regression Testing

• Automatic Nightly build system (using Jenkins), and

several multi-core computers
• Regression testing of libraries
• Verification testing comparing results to references

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 The OpenModelica Tool Architecture

OMWebbook
OMNotebook
Interactive OMPython OMJulia OMMatlab
Interactive
Notebooks Python Julia Matlab
Notebooks
Scripting Scripting Scripting

OMC
ModelicaML
Interactive Compiler OMShell
UML/Modelica
Server Modelica
and requirement
verification Scripting

OMEdit Graphic OMOptim

and Textual Optimization
Model Editor
Simulation
Debugger
Execution 3D
MDT
Eclipse Plugin Visualization
OMSens
sensitivity OMSimulator
analysis FMI Simulation OMSysident

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Spoken-Tutorial step-by-step OpenModelica and Modelica
Tutorial Using OMEdit. Link from www.openmodelica.org

https://spoken-tutorial.org/tutorial-search/?search_foss=OpenModelica&search_language=English

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 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)

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 OMnotebook Interactive Electronic Notebook
Here Used for Teaching Control Theory

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 Mathematical Typesetting in OMNotebook
and OMWebbook
OMNotebook supports Latex formatting for mathematics

Contents in
OMWebbook
Generated from
OMNotebook

Latex instructions
can be hidden by
double clicking the
Cell in tree view

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 OpenModelica Environment Demo

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 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)

78 Copyright © Open Source Modelica Consortium Usage: Creative Commons with attribution CC-BY
OpenModelica MDT: Code Outline and Hovering Info

Identifier Info on
Hovering
Code Outline for
easy navigation within
Modelica files Usage: Creative Commons with attribution CC-BY
79 Copyright © Open Source Modelica Consortium
79
 OpenModelica Simulation in Web Browser Client
MultiBody RobotR3.FullRobot

OpenModelica compiles
to efficient
Java Script code which is
executed in web browser

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 OMPython – Python Scripting with OpenModelica
• Interpretation of Modelica
commands and expressions
• Interactive Session handling
• Library / Tool
• Optimized Parser results
• Helper functions
• Deployable, Extensible and
Distributable

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 OMJulia –Julia Scripting with OpenModelica
• Interpretation of Modelica commands and Control example with OMJulia in Jupyter notebooks
expressions from Julia, transfer of data
• Control design using Julia control
package together with OpenModelica
• Interactive Session handling
• Library / Tool
• Separately downloadable. be run with
OpenModelica 1.13.2 or later
• Works with Jupyter notebooks

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 OMMatlab – Matlab Scripting with OpenModelica
• Interpretation of Modelica
commands and expressions from
Matlab, transfer of data
• Interactive Session handling
• Library / Tool
• Separately downloadable. be run
with OpenModelica
• Similar API functions as in
OMJulia and OMPython
• Can be used for control design
from Matlab

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 OMEdit 3D Visualization of Multi-Body Systems
• Built-in feature of OMEdit to
animate MSL-Multi-Body
shapes
• Visualization of simulation
results
• Animation of geometric Simulate
with
primitives and CAD-Files Animation

New
Animation
Window

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 OpenModelica 3D Animation Demo
(V6Engine and Excavator)

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 OpenModelica 3D Animation – Excavator

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 Visualization using Third-Party Libraries:
DLR Visualization Library
• Advanced, model-integrated
and vendor-unspecific
visualization tool for
Modelica models
• Offline, online and real-time
animation
• Video-export function
• Commercial library, feature
reduced free Community
Edition exists

Courtesy of Dr. Tobias Bellmann (DLR)

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 Exercise 1.2: Use 3D Visualization for Robot model

• Open the
Modelica.Mechanics.MultiBody.Examples.Systems.
RobotR3.fullRobot
example in OMEdit
• Press Simulate with Animation
• Replay the animation
• Compare with the plot

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 Exercise 1.3: Visualization using the
DLR Visualization Community Edition (1)
• Unpack
VisualizationCommunityEdition.zip
• Open the library in OMEdit
• Simulate the EMotor example
• The DLR SimVis visualization app should
start automatically
• Export the animation
(File→Export Replay as Video)

Please note: As of OpenModelica

v1.14 support for the library is only
partial and it is not yet as stable, fast
and complete as for the Dymola tool
(work in progress!)

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 Extending Modelica with PDEs
for 2D, 3D flow problems – Research
Insulated boundary:
class PDEModel
HeatNeumann h_iso;
Dirichlet h_heated(g=50); Poorly insulated boundary:

HeatRobin h_glass(h_heat=30000);
HeatTransfer ht;
Tinf  20
Rectangle2D dom;
equation
dom.eq=ht;
dom.left.bc=h_glass;
dom.top.bc=h_iso; Conducting boundary:
dom.right.bc=h_iso;
dom.bottom.bc=h_heated;
u  60
end PDEModel;

Prototype in OpenModelica 2005

PhD Thesis by Levon Saldamli
www.openmodelica.org
Currently not operational

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 Failure Mode and Effects Analysis (FMEA) in OM
• Modelica models augmented with reliability properties can be used to generate
reliability models in Figaro, which in turn can be used for static reliability analysis
• Prototype in OpenModelica integrated with Figaro tool (which is becoming open-
source)
Application
Modelica Library Modelica model
Simulation

Automated
generation

Figaro Reliability Reliability model

Library FT generation FT processing
in Figaro

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

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 Problems OMOptim – Optimization (2)
Solved problems Result plot Export result data .csv

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 Multiple-Shooting and Collocation
Dynamic Trajectory Optimization
• Minimize a goal function subject to model
equation constraints, useful e.g. for NMPC
• Multiple Shooting/Collocation
• Solve sub-problem in each sub-interval

Example speedup, 16 cores:

MULTIPLE_COLLOCATION
16.0
14.0
12.0
10.0
8.0
6.0
4.0
2.0
0.0
1 2 4 8 16

ipopt [scaled] jac_g [scaled]

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 OpenModelica Dynamic Optimization Collocation

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 OMSens – Multi-Parameter Sensitivity Analysis
• Individual and simultaneous multi-parameter analysis For an exercise, see
further in these slides
• Optimization-based simultaneous analysis
• Robust derivative free optimizer Tool architecture

Heatmap visualization

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 OMSysIdent – System Parameter Identification

• OMSysIdent is a module for parameter estimation of behavioral

models (wrapped as FMUs) on top of the OMSimulator API.
• Identification of the parameter values is typically based on
measurement data
• It uses the Ceres solver (http://ceres-solver.org/) for the
optimization task.

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 General Tool Interoperability & Model Exchange
Functional Mock-up Interface (FMI)

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

• FMI development was started by ITEA2 MODELISAR project. FMI is a

Modelica Association Project now
• Version 1.0
• FMI for Model Exchange (released Jan 26,2010)
• FMI for Co-Simulation (released Oct 12,2010)
• Version 2.0
• FMI for Model Exchange and Co-Simulation (released July 25,2014)
• > 120 tools supporting it (https://www.fmi-standard.org/tools)

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 Functional Mockup Units
• Import and export of input/output blocks –
Functional Mock-Up Units – FMUs, described by
• differential-, algebraic-, discrete equations,
• with time-, state, and step-events
• An FMU can be large (e.g. 100 000 variables)
• An FMU can be used in an embedded system (small overhead)
• FMUs can be connected together

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OMSimulator – Integrated FMI and TLM-based
Cosimulator/Simulator – part of OpenModelica
Main Framework Aspects

Unified co-simulation/simulation tool

• FMI 2.0 (model exchange and co-
C-API OMSimulator simulation)
interface Integrated TLM & FMI • TLM (transition line modelling)
libOMSimulator • Real-time and offline simulation
OMEdit
Standalone open source simulation tool
with rich interfaces
• C/Java
OMC • Scripting languages Python, Lua
FMI component Composite FMI
TLM component Co-simulation framework as a solid base
component
FMI component for engineering tools
Papyrus • Integration into
OpenModelica/Papyrus
ADAMS wrapper • Open for integration into third-party
Scripting tools and specialized applications
… Beast wrapper (e.g. flight simulators, optimization)
Simulink wrapper

FMI FMU OMSimulator in OpenModelica 1.13.2

• Supports both FMI and TLM
Modelica model • TLM connections are optional
• Co-simulation to multiple tools
• Composite model editor
• External API interface and scripting

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OMSimulator Composite Model Editor with 3D Viewer

• Composite model editor

with 3D visualization of
connected mechanical
model components which
can be FMUs, Modelica
models, etc., or co-simulated
components
• 3D animation possible
• Composite model saved as
SSP XML-file
• Support for SSP – System
Structure and
Parameterization standard
• Numerically stable co-
simulation with TLM

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OMSimulator Simulation, SSP, and Tool Comparison

Adding SSP bus connections FMI Simulation

results
in OMEdit

FMI Simulation Tool Comparison

OMSimulator DACCOSIM Simulink PyFMI
Commercial No No Yes No
Open-source OSMC-PL, GPL AGPL2 No LGPL
Lookup Table Yes Yes Yes No
Alg. Loops Yes Yes No Yes
Scripting Python, Lua proprietary proprietary Python
GUI Yes Yes Yes No
SSP Yes No No No
platform Linux/Win/macOS Linux/Win Linux/Win/macOS Linux/Win/macOS
Dymola PySimulator FMI Go! FMI Composer
Commercial Yes No No Yes
Open-source No BSD MIT No
Lookup Table Yes Yes Yes Yes
Alg. Loops Yes Yes Yes Yes
Scripting proprietary Python Go No
GUI Yes Yes No Yes
SSP No No Yes Yes
platform Linux/Win Linux/Win Linux/Win/macOS Linux/Win/macOS

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 OpenModelica Functional Mockup Interface (FMI)

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 FMI in OpenModelica

• Model Exchange implemented (FMI 1.0 and FMI 2.0)

• FMI 2.0 Co-simulation implemented
• The FMI interface is accessible via the OpenModelica scripting
environment, the OpenModelica connection editor and the
OMSimulator tool in OpenModelica

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 OpenModelica Code Generators for
Embedded Real-time Code

• A full-fledged OpenModelica-generated source-code FMU

(Functional Mockup Unit) code generator
• Can be used to cross-compile FMUs for platforms with more
available memory.
• These platforms can map FMI inputs/outputs to analog/digital I/O in
the importing FMI master.
• A very simple code generator generating a small footprint
statically linked executable.
• Not an FMU because there is no OS, filesystem, or shared objects in
microcontrollers.

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 Code Generator Comparison, Full vs Simple

Full Source-code FMU Simple code generator

targeting 8-bit AVR proc targeting 8-bit AVR proc
Hello World 43 kB flash memory 130 B flash memory
(0 equations) 23 kB variables (RAM) 0 B variables (RAM)
SBHS Board (real-time 68 kB flash memory 4090 B flash memory
PID controller, LCD, etc) 25 kB variables (RAM) 151 B variables (RAM)

The largest 8-bit AVR processor MCUs (Micro Controller Units) have 16 kB SRAM.

One of the more (ATmega328p; Arduino Uno) has 2 kB SRAM.

The ATmega16 we target has 1 kB SRAM available (stack, heap, and global variable

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 The Simple Code Generator
Supports only a limited Modelica subset

• No initialization (yet)
• No strongly connected components
• No events
• No functions (except external C and built-in)
• Only parts that OpenModelica can generate good and efficient code
for right now (extensions might need changes in the intermediate
code)
• Unused variables are not accepted (OM usually duplicates all
variables for pre() operators, non-linear system guesses, etc…
but only a few of them are actually used)
• FMU-like interface (but statically linked)

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 Communication & I/O Devices:
M ODELICA _D EVICE D RIVERS Library

• Free library for interfacing hardware drivers

• Cross-platform (Windows and Linux)
• UDP, SharedMemory, CAN, Keyboard,
Joystick/Gamepad
• DAQ cards for digital and analog IO (only Linux)
• Developed for interactive real-time simulations

https://github.com/modelica/Modelica_DeviceDrivers/

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 OpenModelica and Device Drivers Library
AVR Processor Support

● No direct Atmel AVR or Arduino support in the OpenModelica

compiler
● Everything is done by the Modelica DeviceDrivers library
● All I/O is modeled explicitly in Modelica, which makes code
generation very simple

Modelica Device Drivers Library - AVR processor sub-packages:

• IO.AVR.Analog (ADC – Analog Input)
• IO.AVR.PWM (PWM output)
• IO.AVR.Digital.LCD (HD44780 LCD driver on a single 8-pin digital port)
• OS.AVR.Timers (Hardware timer setup, used by real-time and PWM
packages)
• OS.AVR.RealTime (very simple real-time synchronization; one interrupt per
clock cycle; works for single-step solvers)
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 Use Case: SBHS (Single Board Heating System)

Single board heating system (IIT

Bombay)
• Use for teaching basic control
theory
• Usually controlled by serial
port (set fan value, read
temperature, etc)
• OpenModelica can generate
code targeting the ATmega16
on the board (AVR-ISP
programmer in the lower left).
Program size is 4090
bytes including LCD driver
and PID-controller (out of 16 Movie Demo, see next page!
kB flash memory available).

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 Example – Code Generation to SHBS

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 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

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 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

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 vVDR Method –
virtual Verification of Designs vs Requirements
Actor Task Created Artifact

Formalize RMM
Requirement
Requirements Monitor Models

Designs
Formalize Designs DAM
Alternative
Models

Formalize SM Scenario
Scenarios Models

Goal: Enable on-demand

Create Verification* VM Verification Models verification of designs
AUTOMATED
Models
against requirements
using automated model
AUTOMATED Execute and Reports composition at any time
Create Report during development.

Analyze Results

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 Need for Debugging Tools
Map Low vs High Abstraction Level
• A major part of the total cost of software projects
is due to testing and debugging
• US-Study 2002:
Software errors cost the US economy annually~ 60 Billion $

• Problem: Large Gap in Abstraction Level

from Equations to Executable Code
• Example error message (hard to understand)
Error solving nonlinear system 132
time = 0.002
residual[0] = 0.288956
x[0] = 1.105149
residual[1] = 17.000400
x[1] = 1.248448
...

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 OpenModelica MDT Algorithmic Code Debugger

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

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 OpenModelica Equation Model Debugger

Showing
equation
transformations
of a model:

0 = y + der(x * time * z); z = 1.0;

(1) substitution:
y + der(x * (time * z))
=>
y + der(x * (time * 1.0))

(2) simplify:
y + der(x * (time * 1.0))
=>
y + der(x * time)

(3) expand derivative (symbolic

diff):
y + der(x * time)
=>y + (x + der(x) * time)

(4) solve:
0.0 = y + (x + der(x) * time)
=>
der(x) = ((-y) - x) / time
Mapping run-time error to source model position time <> 0

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 Transformations Browser – EngineV6 Overview
(11 116 equations in model)

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Equation Model Debugger on Siemens Model
(Siemens Evaporator test model, 1100 equations)

Pointing out the buggy equation

y = u1/u2;
that gives division by zero

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Debugging Example – Detecting Source of Chattering
(excessive event switching) causing bad performance
• Lkjlkjlj
• Lkjlkj
• lkjklj

equation
z = if x > 0 then -1 else 1;
y = 2 * z;
…

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 Error Indication – Simulation Slows Down

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 Performance Profiling for Faster Simulation
(Here: Profiling all equations in MSL 3.2.1 DoublePendulum)

• Measuring performance of equation blocks to find bottlenecks

• Useful as input before model simplification for real-time applications
• Integrated with the debugger to point out the slow equations
• Suitable for real-time profiling (collect less information), or a complete
view of all equation blocks and function calls

Performance profiling DoublePendulum:

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Performance Profiling of
Siemens Drum Boiler Model with Evaporator

Conclusion from the evaluation:

“…the profiler makes the process
of performance optimization
radically shorter.”

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ABB Industry Use of OpenModelica FMI 2.0 and Debugger

• ABB OPTIMAX® provides advanced model based control products

for power generation and water utilities

• ABB: “ABB uses several compatible Modelica tools, including

OpenModelica, depending on specific application needs.”

• ABB: “OpenModelica provides outstanding debugging features that

help to save a lot of time during model development.”

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 Exercise 1.2 – Equation-based Model Debugger
In the model ChatteringEvents1, chattering takes place after t = 0.5, due to the
discontinuity in the right hand side of the first equation. Chattering can be detected
because lots of tightly spaced events are generated. The debugger allows to identify
the (faulty) equation that gives rise to all the zero crossing events.
model ChatteringEvents1
Real x(start=1, fixed=true);
Real y; Uses 25% CPU
Real z;
equation
z = noEvent(if x > 0 then -1 else 1);
y = 2*z;
der(x) = y;
end ChatteringNoEvents1;

• Switch to OMEdit text view (click on text button upper left)

• Open the Debugging.mo package file using OMEdit
• Open subpackage Chattering, then open model ChatteringEvents1
• Simulate in debug mode
• Click on the button Debug more (see prev. slide)
• Possibly start task manager and look at CPU. Then click stop simulation button

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 Exercise – FMU Export and Import (1)

• Open OMEdit and check FMI settings in

Tools->Options

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 Exercise – FMU Export and Import (2)
• Find the FMIExercise.mo file in the tutorial
folder and open it in OMEdit. Click on the + at the
left to open and see components TEstPIFMU, PI,
etc.
• Goal: (1) Export this PI block as FMU, (2) import
the exported FMU, (3) compare simulation results
of imported PI FMU block vs. native use of the PI
block
• Export the PI block by selecting the model and
use right-click context menu indicated at the right
• The message browser shows where the FMU was
generated on your system

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 Exercise – FMU Export and Import (3)

• Import FMU by selecting

FMI->Import FMU from the menu
• Find and select the FMU in the
directory where it was exported
before as indicated at the right
• The FMU should now appear in the
package browser

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 Exercise – FMU Export and Import (4)

• The imported FMU is wrapped inside a standard Modelica

model and can be inserted by drag and drop into an existing
model
• The model TestPIFMU has been prepared so that the
results of the imported FMU can be easily compared to the
native block. Simulate it and compare results by plotting

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 Part III

Modelica language concepts

and textual modeling

Typed
Declarative Hybrid
Equation-based Modeling
Textual Language

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 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;

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 Typical Simulation Process

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 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

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 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;

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 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;

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 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

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 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;

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 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

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 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;

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 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;

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 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;

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 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 end ExpandedColor;
inheritance red + blue + green = 1;
end Color;

Data and behavior: field declarations, equations, and

certain other contents are copied into the subclass

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 Extra slide
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;

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 Extra slide
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;

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 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;

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 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);
...

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 Extra slide
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;

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 Extra slide
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;

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 Extra slide
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!
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 Exercises Part III a
(15 minutes)

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 Exercises Part III a

• 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.
• (Alternatively: Open the OMWeb notebook
http://omwebbook.openmodelica.org/

• Open Exercises-ModelicaTutorial.pdf (also

available in printed handouts)

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 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!
• (extra) Exercise 2.2: Simulate and plot VanDerPol. Do a
slight change in the model, re-simulate and re-plot.

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 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; (*xxxxx s*)
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

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 (extra) 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

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 (extra) Exercise 2.3 – DAE Example
class DAEexample
Include algebraic equation 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

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 Exercise 2.4 – Model the system below

• Model this Simple System of Equations in Modelica

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 (extra) 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.

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 Part III b
Discrete Events and Hybrid Systems

Picture: Courtesy Hilding Elmqvist

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 Modelica Hybrid Modeling
Hybrid modeling = continuous-time + discrete-time modeling
Continuous-time Real x;
Voltage v;
Discrete-time Current i;

Clocked 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 or clock tick 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

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 Event Creation – if

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

if <condition> then model Diode "Ideal diode"

extends TwoPin;
<equations>
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;

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 Event Creation – when

when-equations (two kinds: unclocked and clocked)

when <conditions> then
<equations> time
end when; // un-clocked version event 1 event 2 event 3

when clock then

<equations>
end when; // clocked version 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

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 Generating Repeated Events by unclocked sample

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.

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 Generating Clock Tick Events using Clock()
(clocked models, Modelica 3.3)

• Clock( ) – inferred clock

• Clock(intervalCounter, resolution) – clock with
Integer quotient (rational number) interval
• Clock(interval) – clock with a Real value interval
• Clock(condition, startInterval)
• Clock – solver clock

class ClockTicks
// Integer quotient rational number interval clock
Clock c1 = Clock(3,10); // ticks: 0, 3/10, 6/10, ..
// Clock with real value interval between ticks
Clock c2 = Clock(0.2); // ticks: 0.0, 0.2, 0.4, ...
end ClockTicks;

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 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

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 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.

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 Part IIIc

Clocked Synchronous Models

and State Machines

and Applications for

Digital Controllers

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Control System Applications

Control System
A control system is a device, or set of devices, that manages,
commands, directs or regulates the behavior of other devices
or systems (wikipedia).

Control
Measurements
Computing Controller Outputs

Sensors Actuators

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 Control Theory Perspective
Feedback Control System

Controller Plant
(Physical System)

r (t ) reference (setpoint)
e (t ) error
y (t ) measured process variable (plant output)
u (t ) control output variable (plant input)

Usual Objective
Plant output should follow the reference signal.

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 Embedded Real-Time Control System

Clock
Computer

A/D, Sample D/A, ZOH

Algorithm

Plant

1. Discrete-time controller + continuous-time plant ≡ hybrid system or

sampled-data system
2. Interface between digital and analog world: Analog to Digital and Digital
to Analog Converters (ADC and DAC).
3. ADC→Algorithm→DAC is synchronous (zero-delay model!)
4. A clock controls the sampling instants. Usually periodic sampling.

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 Controller with Sampled Data-Systems
(unclocked models, using pre() and sample() )

// time-discrete controller
when {initial(),sample(3,3)} then
E*xd = A*pre(xd)+ B*y;
ud = C*pre(xd) + D*y;
end when;
y
ud

// plant (continuous-time process)

0 = f(der(x), x, ud);
y = g(x);

• y is automatically sampled at t = 3, 6, 9,…;

• xd, u are piecewise-constant variables that change values at sampling
events (implicit zero-order hold)
• initial() triggers event at initialization (t=0)

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 Controller with Clocked Synchronous Constructs
clocked models using Clock(), previous(), hold() in Modelica 3.3

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 Unclocked Variables in Modelica 3.2

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Clock variables (Clock) and Clocked Variables (Real)
(in Modelica 3.3)

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 Clocked Synchronous Extension in Modelica 3.3

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 State Machines in Modelica 3.3: Simple Example

• Equations are active if corresponding clock ticks. Defaults to periodic

clock with 1.0 s sampling period
• “i” is a shared variable, “j” is a local variable. Transitions are “delayed”
and enter states by “reset”

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 Simple Example: Modelica Code
model Simple_NoAnnotations "Simple state machine"
inner Integer i(start=0);
block State1
outer output Integer i;
output Integer j(start=10);
equation
i = previous(i) + 2;
j = previous(j) - 1;
end State1;
State1 state1;
block State2
outer output Integer i;
equation
i = previous(i) - 1;
end State2;
State2 state2;
equation
transition(state1,state2,i > 10,immediate=false);
transition(state2,state1,i < 1,immediate=false);
initialState(state1);
end Simple_NoAnnotations;

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 Hierarchical and Parallel Composition of
Modelica State Machine Models

Semantics of Modelica state machines (and example above) inspired by

Florence Maraninchi & Yann Rémond’s “Mode-Automata” and by Marc
Pouzet’s Lucid Synchrone 3.0.

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 Hierarchical and Parallel Composition

Semantics of Modelica state machines (and example above)

inspired by Florence Maraninchi & Yann Rémond’s “Mode-
Automata” and by Marc Pouzet’s Lucid Synchrone 3.0.

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 Part IV

Components, Connectors and Connections –

Modelica Libraries and Graphical Modeling

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 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

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 Connectors and Connector Classes

Connectors are instances of connector classes

electrical connector

connector class connector Pin

Voltage v; v +
keyword flow flow Current i;
pin
indicates that currents 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

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 The flow prefix

Three possible kinds of variables in connectors:

• Potential variables potential or energy level
• Flow variables represent some kind of flow
• Stream variables represent fluid flow in convective transport
Coupling
• Equality coupling, for potential 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 +

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 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 Rotational
momentum
Magnetic Magnetic Magnetic
Magnetic Magnetic flux
potential flux rate
Hydraulic Pressure Volume flow Volume OpenHydraulics

Heat Temperature Heat flow Heat HeatFlow1D

Chemical Chemical
Chemical Particle flow Particles
potential
PneuLibLight
Pneumatic Pressure Mass flow Air

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 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: pin1.v = pin2.v;
connect(pin1,pin2);
Corresponds to
pin1.i + pin2.i =0;

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 Connection Equations

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

Multiple connections are possible:

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

Each primitive connection set of potential 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

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 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

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 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;

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 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;

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 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;

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 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

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 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 – 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

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 Modelica.Blocks

Continuous, discrete, and logical input/output blocks

to build block diagrams.

Library

Continuous

Examples:

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 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

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 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

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 PNlib - An Advanced Petri Net Library
for Hybrid Process Modeling

xHPN: Extended Hybrid Petri Nets

Places
Transitions
(time-)discrete state
(time-)discrete process (integer quantity)
(event)
continuous state
stochastic process (real quantity)
(random event) Arcs
„normal“ arc
continuous process
(flow) inhibitor arc
test arc
read arc

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 Other Free Libraries
Up to date list at: https://www.modelica.org/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
• PowerSystems Power systems in transient and steady-state mode
• ...

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 Some Commercial Libraries
Up to date list at: https://www.modelica.org/libraries

• Air Conditioning • Powertrain

• Electric Power • SmartElectricDrives
• Fuel Cell • VehicleDynamics
• Heat Exchanger • Hydraulics
• Hydro Power • Pneumatics
• Liquid Cooling • Engine Dynamics
• Thermal Power • Environmental Control
• Vapor Cycle • CombiPlant
• Battery • …
• Belts • (there are many more)
• Engine
• …

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 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;

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 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;

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 Part IV
Sensitivity Analysis

using
OpenModelica

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 OMSens – Multi-Parameter Sensitivity Analysis
• Individual and simultaneous multi-parameter analysis
• Optimization-based simultaneous analysis
• Robust derivative free optimizer Tool architecture

Heatmap visualization

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 Introduction to Sensitivity Analysis
• Sensitivity of nonlinear systems in the form of ODEs
• Undergo noticeable dynamic
changes in response to small perturbations
in the parameters.
• OO-languages (Modelica)
• Systematic treatment of the problem
• Clear, unambiguous access to
parameters, variables and
simulation configuration.
• Reusable frameworks to
manipulate models as black boxes.
• Varied options to use internal knowledge about model structure

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 Approaches to Sensitivity Analysis

• Individual analysis:
• One parameter perturbed at a time
• Ignores combinations of perturbations
• Simultaneous analysis:
• All possible combinations not feasible
• Would give combinatorial explosion of parameter settings
• Find “optimal” combinations of perturbations
• “Smallest simultaneous perturbations that produce
largest deviations”
• Typically: optimization-based strategies

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CURVIF: robust derivative-free optimization algorithm
• The CURVI family
• Curvilinear search approach
• Three versions: CURVIF, CURVIG, CURVIH
• Function values, function values plus Gradients, and the latter plus
Hessians.
• Globally convergent
• In general uses fewer evaluations than other algorithms
• CURVIF: the flavor adopted for OMSens
• Trade-off: favor robustness, sacrifice some efficiency
• Derivative-free methods can either be robust - at the cost of using
many function evaluations, e.g. direct searches - or may present
convergence problems

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 LotkaVolterra – A Simple Model to be Used
for Sensitivity Analysis Exercises

model LotkaVolterra "This is the typical equation-oriented model"

parameter Real alpha=0.1 "Reproduction rate of prey";
parameter Real beta=0.02 "Mortality rate of predator per prey";
parameter Real gamma=0.4 "Mortality rate of predator";
parameter Real delta=0.02 "Reproduction rate of predator per prey";
parameter Real prey_pop_init=10 "Initial prey population";
parameter Real pred_pop_init=10 "Initial predator population";
Real prey_pop(start=prey_pop_init) "Prey population";
Real pred_pop(start=pred_pop_init) "Predator population";
initial equation
prey_pop = prey_pop_init;
pred_pop = pred_pop_init;
equation
der(prey_pop) = prey_pop*(alpha-beta*pred_pop);
der(pred_pop) = pred_pop*(delta*prey_pop-gamma);
end LotkaVolterra ;

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 Preparations for Sensitivity Analysis Exercises
Assuming that you already have latest OpenModelica nightly installed. (e.g.1.16.0)
NOTE: Change the paths according to your installation whenever needed in the following commands.
More info in the file:
Step1. Install Anaconda (most easily in c:\anaconda3) OMSens Example_Exercise_ Lotka-Volterra.pdf
===================
For 64-bit use https://repo.anaconda.com/archive/Anaconda3-2019.10-Windows-x86_64.exe
For 32-bit use https://repo.anaconda.com/archive/Anaconda3-2019.10-Windows-x86.exe

Follow the installer and install using the default options i.e., don't change anything (we recommend installing in C:\Anaconda3).

Step 2. Install libpython

====================
Open windows command prompt CMD and type/copy the following commands,
(this is one line
set PATH=C:\Anaconda3;C:\Anaconda3\Library\mingw-w64\bin\;C:\Anaconda3\Library\bin;C:\Anaconda3\Scripts;
C:\Program Files\OpenModelica1.16.0-dev-64bit\tools\msys\mingw64\bin;%PATH%
conda install libpython

Step 3. Compile OMSens Backend

=========================
Use the same windows command prompt from last step and copy/run the commands (one at a time)

cd "C:\Program Files\OpenModelica1.16.0-dev-64bit\OMSens\fortran_interface"
gfortran -c Rutf.for Rut.for Curvif.for
f2py.exe -c -I. Curvif.o Rutf.o Rut.o -m curvif_simplified curvif_simplified.pyf Curvif_simplified.f90 --compiler=mingw32
"C:\Program Files\OpenModelica1.16.0-dev-64bit\bin\OMEdit.exe"

Step 4: Run OMEdit with OMSens

Now use the OMEdit we just started from the CMD command window (just push enter)
Load the LotkaVolterra model, open it, run it e.g. 100 seconds
and select the OMSens functionality from the top menu item i.e., "Sensitivity Optimization"

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 OMSens Exercise – Locate Python
Select Analysis type

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 OMSens Exercise –results from individual analysis
More info in the file:
OMSens Example_Exercise_ Lotka-Volterra.pdf

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 Part Vb
More
Graphical Modeling Exercises

using
OpenModelica

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 Graphical Modeling - Using Drag and Drop Composition

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 Graphical Modeling Animation – DCMotor

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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

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 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:

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 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.

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 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.

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 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.

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 Learn more…

• OpenModelica
• www.openmodelica.org

• Modelica Association
• www.modelica.org

• Books
• Principles of Object Oriented Modeling and Simulation with
Modelica 3.3: A Cyber-Physical Approach, Peter Fritzson
2015.

• Modeling and Simulation of Technical and Physical

Systems with Modelica. Peter Fritzson., 2011
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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