FhSim

Time domain simulation and visualization of dynamic systems

Motivation

Accumulate knowledge through software, and avoid ad-hoc programming.

Provide basis for future projects. Nonlinear dynamic systems are often best described in the

time domain. Visualization provides improved understanding of

systems.

Associated projects

Present Anchor lines for real time simulation (OSC) State estimator for trawl system surveillance (Rolls-Royce) Trawl optimization for fishermen

Future Training simulator in Trondheim (Fisheries, oil spill prevention) Trawl control systems Further projects for OSC Aquaculture net cage design and mooring system.

Features of fhSim Flexible

Supports various integration methods, both fixed and variable time step. Simulation objects can be compiled into dll’s, making various

programming languages possible. License manager has separate licenses for each simulation object.

3D visualization Uses OGRE3D (Object-Oriented Graphics Rendering Engine) Each simulation object contains its own visualization methods and

properties. Visualization can utilize the GPU, relieving the CPU.

Setup The simulation is set up through XML.

Output 3D visualization Output file Postscript plot

Simulation object

Mass pointStates:

Pos [3]Vel [3]

Properties:Mass [1]

Force [3]

Pos [3]

Vel [3]

dVel/dt [3]dPos/dt [3]

Input ports

Output ports

State derivatives

fhSim main architecture

SO

Integrator

DllWrapper

Port I/O

SO

File I/OModelStructure

Dll

FhSim

Method

License manager

FhSim main architecture with visualization

SO

Integrator

DllWrapper

Port I/O

SO

File I/OModelStructure

Dll

Visualization

FhSim

Input

Camera

Scene

Extended with visualization methods

Added visualization methods

Method

License manager