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RealSim
RealSim is Real Time Simulation forDesign of Multi-Physics Systems
RealSim goal: bring Modelica to industryObjectives:
Develop high-performance Modelica simulators
Develop better tools for modeling, simulation and visualization for use by industry
Demonstrate practical industrial applications for Modelica
IST Programme
Contract No. IST-1999-11979
2
Finding more information
More information can be found in RealSim Public Reports.
If you see text like this D3 D3 please visit the page for public reports and find the report there.
For other materials please contact relevant partners
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Modelica An object-oriented, general simulation language Designed by Modelica Association Libraries of reusable components Equation-based Components created using a natural mathematical
language Supports differential algebraic equations Supports discrete events Permits multi-domain simulation
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Modelica libraries of ready components
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planetary1=110/50
C4=0.12 C5=0.12
planetary2=110/50
C6=
0.12
bearing2
C8=0.12
demultiplex
shaftS=2e-3
S
planetary3=120/44
C11=0.12
shaftS1=2e-3
S
C12
=0.1
2
bearing1bearing4
Cou
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C0ClutchC1ClutchC2Clutch B0ClutchB1Clutch B2Clutch
VC1Accum
VC2Accum
VB0Accum
VB1Accum
Shi
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hift
23
Shi
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Shi
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Tim
ing
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erse
Con
trol
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r
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odul
ator
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st
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pAccumPump
Th
VVolumeE
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Volum
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Volum
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VVolumeE3
Chk
Val
veA
C0C
hkV
alve
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alve
Chk
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veA
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orificeorifice1
orifice2
orifice3orifi
ce4
orifi
ce5
orifice6
orif ice7
orifice8orifi
ce9
orif ice10
orifice11orifi
ce12
orifice13
solenoid
solenoid1
SOL11 1
SOL20 1
ST0 0
X Y
C
user
throttle
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ulat
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userX Y
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ber1
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VVolumeE1
VVolumeE2
VVolumeE3
PosValve
PosValve1
PosValve2
PosValve3
PosValve4
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FPL
FPL
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FPL
2
FPL
3
FPL4 FPR
FPR
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FPR
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FPR
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orif ice
FMs
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A = if not deltax>0 then 0 else Amax*(1-exp(-Ainc/Amax*deltax));
Example - Car Power Train Typical multi-physics system
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Dym
olaModelica
Libraries
RobotComponents
Multibody
Power SystemComponentsN
ew
Modelic
a
Libra
ries
Parallelizer
OpenGLVisualization
Cult3DVisualization
Interactive Visualization
MathematicaVisio
Dym2DSP
DspaceHardware
SPOT
ExternalHardware
Optimizer(in Matlab,C)
AutoCAD
SolidWorks
CADTranslation
RobotProductModel
and DataManagement
MS SQL ServerUse
r In
terf
ace
Tra
nsl
ati
on
Execu
tion
Vis
ualiz
ati
on/
Analy
sis
Multiple CompiledExecutables
NewModelica Code
MathModelica
MathModelica
Sim
ula
tion
Execu
table
Project map
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Partners
Dynasim(S), DLR(D), MathCore(S), PELAB(S), Kuka(D) ABB(CH)See project
presentation (D4)
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Modeling and Simulation Environments
Modelica-based scripting language Modelica objects for user interaction (P3) Interface of Modelica to LAPACK Multi-criteria optimization environment MathModelica simulation environment
• Integration with Mathematica,Graphic GUI based on Microsoft Visio
• Integration with CAD tools and 3D visualization
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Modeling Examples Modeling of a Racing Car with
Modelica’s Multi-Body Library• Paper presented at
Modelica 2000 Workshopin October 2000
• Real-time, human-in-the-loop simulation of3d car model, incl.wheel-suspension &tire models
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Modeling and Simulation Environment
MathModelica Model Editor…
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Modeling and Simulation Environment
… MathModelica Notebooks
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Efficient Simulation: Recent Achievements
Modelica simulations should be made more efficient
Mixed-mode Integration: Real-time (interactive) performance for complex multi-physics systems• Mixed-mode integration
method for simulating“stiff” models.
• Automatic partitioningof “fast” and “slow”dynamics of the model.
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Efficient Simulation: Recent Achievements
Efficient handling of large models (D27)• 100,000+ equations• 4+ physical domains
Handling DAE of varying structure (D22)
Parallel scheduling of model equations• Automatic fine-grained parallel scheduling
of model equations on a PC cluster (D24) See Enhanced Dymola (D7A, D7B,E3)
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Visualization and CAD integration
Study of integration forms and formats D1
AutoCAD to Modelica Translator D15• Exports Modelica code + STL for
additional geometry information (for use by visualization components)
OpenGL-based interactive visualization of Modelica models
Live simulation controlled via Internet
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Robot designed in AutoCAD…
…translated to Modelica…
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… Robot visualized …
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…Interactive visualization…
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Internet-based visualization
CLIENT
Cult3D graphicsin WWW browser
Control(Java widgets)
INTERNET Server
Modelica - based
simulation
(see D39)
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Internet-(1)…
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…Internet-(2)
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Robot optimization Optimizing weight, speed, costs,
accuracy for KUKA. Modelica library components
• Multibody library (freely available, see D8)
• Proprietary robot components Product model and data
management application Fast optimization for non-
smooth problems using distributed simulation (see D19 )
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Optimization Software Architecture
Database
Matlab GUI
Internal data structure
Robot component library
File: robot115.exe
static calculation
Dymola Modelica translatorFile:
robot115.mo
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Define which components are assembledDefine how they are assembled
“Assembly” of components into a robot
Robot Configuration Systems
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Steering a robot Recent display by KUKA & DLR at the
Hannover Fair
Experience for robot applications, see D42
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Power system simulation
Dynamic, object oriented Simulator of Power System Transients (SPOT) at ABB• On-line and off-line simulation of
power systems• Scalable, cost efficient – basic
version runs on a PC Experience with RealSim
described in D45
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Modeling software for Power Systems
Dym2DSP, software for automatic exporting of compiled simulations from Dymola to DSpace hardware
Complete power system component Modelica library• Basic Elements and Transformations,
Turbines, Generators, Transformers, Transmission Lines, Impedance, Admittance and Loads, Motors and Drives, Converters, Inverters, Rectifiers, Breakers, Faults, Meters and Sensors, Non-linear Elements (Semiconductors, Varistors)
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Hardware-In-The-Loop Simulation of electric locomotive:
friction, inertia, electrical drive, switching, powerconversion, etc.• Offline• Realtime• RT Hardware-in-the-loop
Modular Power Converter
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Complete System for Realtime Simulation
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Making people aware The Dissemination and use plan in D9 Modelica www site www.modelica.org Modelica 2000 Workshop in Lund, Sweden
(as D46) International Modelica 2002 Conference in
Germany (as D46) University Course on Modelica D47 SAE Congress in Detroit, USA 2001 Hannover Fair, Germany 2001 10+ Papers, Journal articles, Conferences