EUROSYSLIB main objectives

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EUROSYSLIBOverview of Project Achievements

July 9, 2010

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EUROSYSLIB project & consortium in 1 slide

● Initiated by Dassault Systèmes& DLR

● 2.75 Years DurationOct. 2007 – June2010

● 19 Partners

● 100 person years effort

● 16 Mill. € total budget

● 8 Work Packages

● 32 Sub Work Packages

Companies Research & Universities

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EUROSYSLIB main objectives

How to manage increasing complexity, time to market, product quality in future products and systems ?

EUROSYSLIB answer Design, optimize, check as early as possible

the behavior of a future product in a virtual environment with a multi-disciplinary teamo Reduce cost and increase productivityo Meet the relevant specificationo Deliver against expectation for users

Concurrently optimize the product dynamicbehavior and the geometric constraints in thesame framework(= digital mockup with behavior)

4

EUROSYSLIB Major Outcomes

● Extensions of the Modelica Language● A large set of high-value, innovative modeling and simulation libraries● Integration of Modelica in Dassault Systèmes tools “CATIA”, “ENOVIA”

in LMS Imagine tool “AMESim”● Improvement of Dynasim tool “Dymola”

of INRIA tool “Scicos”● Interface between Dassault Systèmes tool “SIMULIA” and Modelica env. ● Investigate topics as :

○ Data persistency○ Multi target platforms○ Hybrid systems○ Library protection ○ Dysfunctional / Safety analysis and Modelica

Exploitation

● 13 open source and 18 commercial Modelica libraries.

● 8 of these libraries are already released and areavailable for end customers.

● Distribution channels agreed for 70 % of these libraries:Open source: Modelica AssociationCommercial : Dassault Systèmes, LMS, Bausch-Gall, Claytex.

● 13 commercial software enhancements are developed(distribution in the products of Dassault Systèmes and of LMS)

Standardization

● Standardization of EUROSYSLIB language developments performed viaModelica Association (international non-profit org. founded in 2000)Modelica 3.1 – May 2009Modelica 3.2 – March 2010

● 10 major extensions proposed and released (and several minor)

● Dymola : nearly all extensions are already supported.AMESim : some extensions are already supported.CATIA DBM: some extensions are already supported and

all will be supported in future versions.

● In EUROSYSLIB: Guidelines for Library Development

Dissemination

● 40 conference articles

● 10 presentations (without articles)

● 2 fairs (FISITA'2008, AUTOMATICA'2010) + 2 ITEA Symposia

● 2 web sites (EUROSYSLIB, Modelica Association)

● After project end:

○ Webinars to present widely the outcomes (Europe, Asia, US )

○ DS plans to host an open Modelica community platform

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Technical Achievements

WP2 – Library InfrastructureWP3 – Mechanical SystemsWP4 – Electrical and Electronics SystemsWP5 – Thermo-Fluids SystemsWP6 – Control SystemsWP7 – Properties and Safety ModelingWP8 – Vehicle Systems

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WP2 - Library Infrastructure

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Library Infrastructure

Sub work-packages2.1 Parametric Modeling

2.2 Advanced Library Techniques

2.3 Library Integration in DS V6

2.4 Fluid Library Integration in DS V5 CFD

2.6 Design Optimization

2.7 Library Protected Exchange Techniques

ObjectivesImprove significantly the infrastructure for Modelica by integrating Modelica inCATIA, AMESim, CFD, and by improving Modelica and Modelica tools tofulfill the needs of EUROSYSLIB libraries

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Parametric Modeling - DS

Breakthroughs ● Link with knowledgeware infrastructure

(parameters, formulas, design table) allows integration with many other V6 applications

Validation ● Import, simulate in V6 and

compare results with Dymola

CommercialSoftware

Cross industry

Features ● Link Modelica model parameters to parameters

exposed in ENOVIA V6 with knowledgeware(3D Shapes, design tables,…).

● Mechanism works in both directions:● parameterize a CAD model

from a Modelica parameter● set Modelica parameter with

parameter from a CAD model● Complete mapping between

Modelica.SIunits (3.1) and knowledge types

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Parametric Modeling - LMSFeatures ● View and use of Modelica

libraries● Modelica Import Assistant● Modelica Assembly● Detection and resolution of

structural parameters● Groups of parameters and

variables● Viewing of parameter data in

AMESim html browser● Import/export of Modelica

parameter data using AMESim parameter sets

Breakthroughs ● Time-domain & Frequency-domain● Causal & Acausal modeling

Validation ● Results

comparison with standard AMESim & LMS Imagine.Lab Libraries

CommercialSoftware

Cross industry

14

Advanced Library TechniquesFeatures ● Extending Dymola to support library development● Solve problems arising in other sWPs

Breakthroughs ● Reliable handling of bi-directional thermo-fluid flow (stream connectors) ● Solve differentiation problems to support SPICE3 circuit modeling● Support for real-time version of FlexibleBodies library● Support for sparse Jacobian handling

(large Siemens fluid benchmark runs 22 times faster now)● Support for homotopy-operator for improved initialization

(power plant with 300 iteration variables initializes now without accurate guesses)● and more…

Commercial

Cross industrySoftware

Open Source

Language

15

Modelica Fluid lib - Advance lib techniques

Features ● Medium models are separated from

fluid models● Dynamic and steady-state simulation● Additional trace substances can be

easily added to each medium ● Treatment of connection points as high-index

DAE (as opposed to algebraic loops)● Object-oriented (e.g. replaceable flow and

heat transfer models)

Breakthroughs ● First Modelica standard for Thermo-Fluid● New stream connectors provide powerful basis

for object-oriented fluid modeling● Broad coverage of use cases:

dynamic, steady-state and inverse calculations.

Validation ● Eurosyslib WP5 (Thermo-Fluid)

Cross industryLibrary Open Source

tank

level =

1

pump

valve

sensor_m_flow

m_flow

T_ambi...

T=syst...K

wall

G=1.6e...

burner

Q_flow =1.6e3

system

gdefaults

heaterheater

radiatorradiator

T

sensor_T_for...

T

sensor_T_ret...

handle

startTime...

pipepipe

m_flow T_forw ard

T_return

tankLevel

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Libs integration in DS V6 infra.

Breakthroughs ● Concurrent management of PLM and

Modelica versioning system

Validation ● Validation done using the existing

commercial Moelica libraries

CommercialSoftware

Cross industry

Features • Import Modelica libraries ((including external

resources) to ENOVIA V6• Persistency model for Modelica libraries & models in

ENOVIA V6:• Transparent loading/unloading of Modelica

libraries/models• Mechanisms for navigating on links and for

management of impacts between Modelica libraries/models

• Cut/Copy/Paste for class and components• Export to .mo, moe or 3DXML• Editability , People & Organization business rules • Modelica/ENOVIA versioning management• Migration scripts support

17

Libs integration in DS V6 infra.Features ● LMS Libraries compatible with DS V6● Possibility to store the Imagine.Lab models within

a Modelica format ● Properties (metadata) associated to models in

Imagine.Lab available for DS V6 through an API or scripting.

Breakthroughs ● Metadata (author, date, image, …) defined closer

to the design phase, available for the Simulation Data Management (SDM) tool

● Experiments: proper integration in a SDM, storing the model separately from parameter/results

Validation ● Integration of a LMS

Modelica Library in DS V6

CommercialSoftware

Cross industry

Properties

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Fluid in V5-CFD – Weak Coupling

Features ● Import of CFD data into a system-level

model through interpolating splines● 1D, 2D and ND interpolation lookup tables● Piecewise-constant, multi-linear or multi-

cubic splines● Partial derivatives evaluation for index

reduction● Different boundary conditions allowed● Extrapolation splines

Breakthroughs ● Efficient handling of large lookup tables

(number of generated Modelica equations is independent of table size)

● Efficient handling of discontinuities through mixed Modelica-C approach

Validation ● Result comparison with

standard LMS Imagine.Lab numerical libraries

Commercial

Cross industryLibrary

19

Fluid in V5-CFD – Strong CouplingFeatures ● Co-simulation between 3D CFD

software and AMESim-Modelica system-level simulator

● Macro time step scheduling for better stability-performance trade-off

Breakthroughs ● Co-simulation methodology● Specification of Modelica external

connectors for connecting with causal simulators

Validation ● Comparison with LMS

Imagine.Lab AMESim HCD model and with Bosch experimental results

CommercialSoftware

Cross industry

Features● Significantly enhanced version of the

existing Modelica Design Optimization library● GUIs for different optimization tasks

● Expanded library for optimization criteria● Enhanced numerical sensitivity analysis

for more reliable optimization

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Design Optimization

Breakthroughs ● Nonlinear model predictive control

(solving nonlinear optimization problemsat every sample time of a controller).

● Periodic steady state initialization,e.g., of electrical converters

Validation ● Comparison with Matlab-Mops results

Commercial


25.0 27.5 30.09

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[A]

voltageSensor.v

inductor.i

Periodic solution:

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Library IP ProtectionFeatures ● New techniques to support library protection● Standardized in Modelica

Breakthroughs ● Standardized Modelica annotations for

library protection and licensing● Included in Modelica 3.2 (March 24, 2010)● Implementation in Dymola

Validation ● By library developers

Cross industry

type Access = enumeration(hide, showIcon, showDocumentation, showDiagram, showText, duplicate);

annotation(Protection(access = Access.showDocumentation));annotation(Protection(nestedAccess = Access.showDocumentation));

package MyLibraryAuthorization_Dymolaannotation(Authorization(

libraryKey="15783-A39323-498222-444ckk4ll",licensor ="Organization A\nRoad, Country",License(licensee="Organization B, Mr.X", id ="lic:1269"),License(licensee="Organization C, Mr. Y", id ="lic:511",

expirationDate="2010-06-30"),License(licensee="Organization D, Mr. Z", id ="mac:0019d2c9bfe7")

));end MyLibraryAuthorization_Dymola;

Commercial

Software

Open Source

Language

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Library IP Protection Features ● IP protection

based onsource encryption

● License information attached to encrypted models

Breakthroughs ● Standardized scheme● Enables acausal

models to be safely exchangedwhile preserving the power of symbolicoptimizations done by the compiler

Validation ● Integrated within AMESim

Commercial

Cross industrySoftwareLanguage

Encryption[*.moe]

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WP3 - Mechanical Systems

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Mechanical Systems

ObjectivesEnhance the modeling of mechanical systems in Modelica to come closer to the market leaders in the multi-body area (ADAMS, LMS-Virtual.Lab Motion, RecurDyn, SIMPACK, ...).

Sub work-packages3.1 MultiBody Library

3.2 Multi-field Library

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Features ● Automatic transformation of CATIA kinematics

model in to Modelica multi-body model

CATIA Modelica

Breakthroughs ● Automatic usage of CAD-models

in Modelica system simulation● Multi-body simulation of CATIA models● Handling of overdetermined

multi-body models in Modelica

Validation ● Evaluated in use cases● Segway demonstrator developed

CommercialSoftware

Cross industry

26

FeaturesIntegration of DBM (behavior) and 3D shapes:● Position the 3D within the DBM behavior

(Modelica model) by mapping geometric information (axis systems) with Modelica “frames”

● Animate the 3D Shape corresponding to the DBM behavior

● Retrieve necessary information from 3D to compute inertias, center of mass, mass…

Breakthroughs ● Accurate positioning in 3D● Physical properties directly read from 3D

Validation ● Manual tests against

requirements / specifications

CommercialSoftware

Cross industry

Support multi-body dynamics in V6

Multi-field Library Features ● SIMULIA Finite-Element Body

→ order-reduced Modelica flexible body● Flexible bodies with distributed forces

(for multi field coupling)● Flexible bodies with rotational or cyclic symmetry

(high efficiency for fast rotating bodies)● Disc brakes

(thermo-elastic fields for plates)● Real-time capability for flexible bodies● Visualization of thermo-elastic fields

Breakthroughs ● Complete process for system

simulation of flexible bodies:CATIA → SIMULIA (FE) → Modelica

● Efficient simulation of fast rotating thermo-elastic disc brakes

Validation ● Comparing results with

ANSYS and SIMPACK

CommercialLibrary Software

Cross industry

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WP4 - Electrical and Electronics Systems

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Sub work-packages4.1 Electrical Analog Library

4.3 Electronics SPICE3 Library

4.4 Smart Electric Drives Library

4.5 Electro Mechanical Actuators Lib

ObjectivesEnhancement of electronic MSL libraries

Leadership in controlled electrical machines modeling

Coming closer to electronic circuit simulation

Increased application of Modelica to electro magnetic/mechanical modeling

Electrical and Electronics Systems

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Electrical Analog Library Features ● Adding more complex models

(OpAmp detailed, M_Oline, Zener diode, thyristor, Triacarc models)

● Improvement of existing models(performance)

● Thermo-Electric coupling● Published in actual MSL releases

Breakthroughs ● Enlarged area of application

(thermo-electric simulation, new models)

● Improved performance

Validation ● Report Dassault Aviation:

further device models necessary● Tested by Modelica community


ground

L=2e-6

L

simpleTriac

ulseCurrent

Open Source

31

Electronics Spice 3 Library Features ● Implementation of SPICE3 device model

subset (basic models, sources, MOS level1bipolar, diode, semiconductor resistor)in Modelica

● Modeling as close as possible to SPICE3● SPICE netlist translator to Modelica

Breakthroughs ● Opening Modelica to “true” electronics● SPICE source code transformed to

Modelica● Planned models provided● Netlist translator first version● Method found to implement sequential

device models to Modelica

Validation ● Many (about 1000) regression

tests against SPICE3● Minor validation by Schneider

Electric at the beginning

Software


Dymola SPICE3

Open Source

32

Smart Electric Drives Library Features ● Design and optimization of a drive system● Design, investigation and optimization of

components, operation and control strategies● Investigation of transient and quasi stationary

behavior of the electric drive system● Investigation and optimization of energy flows

Breakthroughs ● The SmartElectricDrives Library is an

additional software tool specifically designed to support and ease simulations for electric drive applications with Modelica language

● The SmartElectricDrives Library eases the simulation and optimization of general purpose drive applications as well as high performance drive applications

Validation ● Modelica correctness tests (Dymola)● An improved model will validated and

compared with the corresponding results from a previous version of this model

● With AIT’s laboratory infrastructure it is possible to validate/optimize the virtual models directly, matching the simulation results with the measured values at the real component

Commercial

Cross industryLibrary Software

Library

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Electro Mechanical Actuators LibFeatures ● Enhanced content of Electric Motors library● Library covering industry most used electrical

actuator (DC machine, Induction machine, Synchronous machine, Brushless, control artefact)

● Electromagnetic actuators component design (magnetic coils, linear air gap with mechanical interfaces, material characteristics)

Breakthroughs ● Magnetic hysteresis and saturation● Models suitable for electrotechnicians

with electrical parameters● New opportunities to deal with default

machines

Validation ● Regression tests with LMS

Imagine.Lab libraries● Bibliography and cross

references

Commercial

Cross industry

34

WP5 - Thermo-Fluids Systems

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Thermo-Fluids Systems

ObjectivesTo provide thermo-fluid libraries covering the whole range of operation domains of the modeled systems.

Sub work-packages5.1 Fluids & Thermo-hydraulics

5.2 Fluid Dissipation

5.3 Power Plants

5.4 Human Comfort


36

Fluids & Thermo-hydraulicsFeatures ● Thermal-hydraulic library for various

applications = Aero, Auto, Off-Highway, …● Content covers most of the needs =

chambers, resistive elements, pipes, valves, pumps, actuators, heat exchanges, …

● Coupled with the advanced and validated fluid properties database of LMS Imagine.Lab

● Connection to native causal LMS Imagine.Lab libraries through the Modelica Import Assistant

Breakthroughs ● Stream connector included● AMESim extension to acausal

approach through Modelica for fluids modeling

● Frequency & FFT analysis for oscillating modes

Commercial

Validation ● Validated against the native LMS

Imagine.Lab Thermal-Hydraulic library● Tested with applicative models

(diesel/gasoline injection systems)

Cross industry

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Fluids Dissipation lib Features ● Pressure loss calculation for many industrial

applications like pipes, bends, diffusers, junctions, nozzles, valves, heat exchangers

● Heat transfer calculation for many industrial applications like heat exchangers, pipes, channels, helical pipes, flat plates

● Integration into Modelica.Fluid framework by flow models and heat transfer models

● Function-based approach enables use in literally each thermohydraulic Modelica library

Breakthroughs ● Efficient treatment of functions by

automatic inverting and calculation of analytic Jacobians

● Introduction of total pressure drop (important for diffusers, junctions, etc.)

Validation ● Using literature and compare to

different sources and software● Evaluation carried out by

Dassault Aviation for different systems (Fuel, Environmental Control System)

Library CommercialOpen Source

Modelica.Fluid integration

XRG integration

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Power Plant Thermofluids EDF Features ● Multi-type power plant modelling:

● Water/steam● Flue gases● Combustion● Solar● Neutronics

● All main components available: heat exchangers, turbines, pumps, tubes, volumes, valves, boundary conditions, condenser, boilers, cooling tower, combustion chambers, solar receiver…

● Static and dynamic modelling● Easy to understand, easy to extend

Breakthroughs ● Complete modelling of the full plant

thermodynamic cycle with simulation of large transients

● New method to assess fouling phenomena in steam generators

Validation ● Biomass plant● Concentrated solar plant● Combined cycle power plant● 1300 MWe P4 nuclear power

plant

Library Internal Open Source

39

Power Plant Thermofluids Siemens Features ● Mainly on water steam cycle of power

plants.● Main components: water/steam tube,

flue gas zone, drum, steam turbine, pre heater, condenser, compressor, two-phase valve.

● Assemblies: super heater/economizer, flow evaporator, simple heat recovery steam generator (VDI 3508).

● Fully Modelica.Fluid compatible, but easier to understand (since specialized)

● Stable Initialization of large models using given a steady state solution.

Breakthroughs ● Tremendous speed up of large fluid

models with Dymola 7.4.● Available assemblies and models in

different level of detail.

Validation ● Heat recovery steam generator.● Low pressure and high pressure

feed water heater line of a nuclear power plant

● Fuel gas booster

Library Internal

M

MM

MPH5DK5

PH4DK4

M

M

M

M

MPH5DK5

PH4DK4

M

M

M

M

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Power Plant Thermofluids ABB Features ● Based on Modelica.Fluid library● Additionally provides

● Materials (steel, cf. Media)● HeatTransfer (tubes)● Machines (simple turbine)● Tags (pick up signals)

● Coverage● water-steam side● fluegas side

Breakthroughs ● Stream connectors for Modelica.Fluid● Components customizable to different

use cases, ranging from● Dynamic, distributed parameter to● Steady-state, lumped models

Validation ● Coal fired power plant● Dynamics for Power/Frequency

control● Steady-state performance

calculation

Library Open Source Internal

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Power Plant Electrical ABB Features ● Power Plant system modeling,

including electrical side as well● Simple electrical distribution using

natural or modal coordinates● Different phase systems in one

library, e.g.● 3 phase AC● 1 phase AC● HVDC

Breakthroughs ● Simple yet powerful to study energy

systems● Replaceable phase systems, re-using

common library infrastructure

Validation ● Energy landscape with large

fraction of renewable energy● Textbook examples

Library Open Source

w indFarm

city

dispatcher

pow erPl...

10/380

trafoPlant

380/50

distribu...

~=

~~

HVDC

hydroPlant

380/10

trafoHy...

R=1, L=...

linePlant

R=1, L=...

lineWind

R=1, L=...

lineHydroder(dist...

frequency

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Human Comfort XRGFeatures ● Prediction of thermal comfort for mobile and

stationary applications according to ISO 7730, ASHRAE 55-2004 and ISSO 74

● Complex multi zone modelso Building, automotive and aircraft cabinso Consideration of energy and mass balanceso Thermal effects (conduction, convection,

radiation: absorption, reflection, transmission)o HVAC componentso Modelica.Fluid compatible

● Weather model● Visualization of thermal comfortBreakthroughs ● Flexible geometrical transient room/cabin model ● Virtual heat pool method for internal radiation● Expandable surface connector for fast model

design

Validation ● Comparative validation to

EnergyPlus /DesignBuilder

CommercialLibrary Internal

Cross industry

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WP6 - Control Systems

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Control Systems

ObjectivesProvide Modelica libraries forsafe embedded control systems

Sub work-packages6.1 Control Systems Libraries

6.2 Continuous/Discrete Control Library

6.3 Synchronous Control Library

6.5 Embedded Control for Multiple Target Platform

45

Modelica_LinearSystem2Features ● Linear system objects with overloaded

operations for different representations:state space, transfer function, zeros/poles,as continuous or discrete system.

● Functions for conversion, analysis, design, and plotting of linear systems.

● Full utilization of operator overloading.● Reliable since utilizing LAPACK library

(= the same linear algebra basis as Matlab)

Breakthroughs ● Support of linear systems for

controller design, exclusivelyusing Modelica (and LAPACK C-code)

● Advanced synthesis functions likeLQG, Extended/Unscented Kalman filter, low/high/band/stop-pass filters

Validation ● Validated against

MATLAB and SLICOT.


0 10 20-0.15

-0.10

-0.05

0.00

0.05

0.10

0.15UKF.y_est[2]

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ControlDesign Features ● System analysis and Design based on

SLICOT routines.● High accuracy and efficiency by

utilizing SLICOT library● Full compatibility to

Modelica_LinearSystems2 library.

Breakthroughs ● Efficient and reliable analysis and

design functions forlarge linear systems.

Validation ● Validated against MATLAB and

Modelica_LinearSystems2.

Commercial


47

MAC layer network

Features ● Simulation of wired and wireless

network protocols in Modelica● MAC delays, transmission delays,

network interface delays● Based on the TrueTime toolbox

for Simulink● Shared Ethernet, Switched Ethernet,

TDMA, FDMA, CAN, Round-robin,Flexray, PROFINET IO, 802.11b, 802.15.4

Breakthroughs ● January 2009 - First version based on

external C code (released under GPL license)● June 2010 - Second version based on

native Modelica (released under Modelica License 2)

Validation ● Validated against

Simulink TrueTime

Cross industryLibrary Open Source Commercial

48

Operator Overloading

Features ● Constructor and operator overloading

in Modelica for improved user experience.● Already used for:

● Complex numbers● Representations of

linear, time-invariant (LTI) systems

Breakthroughs ● Constructor and operator overloading

included in Modelica 3.1● Improved type system for overloaded

operators included in Modelica 3.2● Implementation in Dymola

Validation ● Modelica_LinearSystems2 library

implemented using overloading for manipulation of LTI systems

Commercial

Cross industry

j = Complex.j();z1 = (2 + 2*j)*(3 + 2*j);z1= 2 + 10j

z2 = (2 + 2*j)*(2 - 2*j);z2= 8

s = TransferFunction.s;Go = 1/(s+1);= "1/(s + 1)"

G = Go/(1+Go);= "1/(s + 2)"

Language

Software

49

Continuous/Discrete Control Features ● Blocks for modeling and simulating

linear control systems.● Easy switching between

continuous and discrete mode.● Templates for standard control

structures for convenient model generation(two-degree-of-freedom controller,state space controller, ...)

Breakthroughs ● Convenient modeling of continuous and

discrete control systems.● Direct usage of Modelica_LinearSystem2

for determination of the controller coefficients.

Validation ● Partly validated against

MATLAB/Simulink.


0 10 20-0.15

-0.10

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0.00

0.05

0.10

0.15

s

Open Source

50

Modelica_StateGraph2Features ● New Modelica library to model reactive and hybrid systems● To replace current Modelica.StateGraph library

Breakthroughs ● Improved usability

● Open Icon layer● Automatic connector sizing

● Graphical approach to Mode-Automata● New blocks to define actions

● Safer graphs● Convergence of event iterations

● Only minor Modelica enhancements● Allows analysis with external tools ● Formal definition

Validation ● Harel’s wristwatch benchmark

Cross industry

Open Source

Language Commercial

Software

Library

51

Co-simulating LCM-Modelica

Features CATIA V6 prototype to co-simulate:● 3D kinematic solver● Modelica models

(continuous time with numerical solver)● Discrete synchronous state machines

(discrete time step, LCM)

Breakthroughs Main LCM model synchronizing● State-chart controllers designed with

dataflow editor● a controlled system with

physical behavior in Modelica

Validation: Conveyor system

Commercial

Cross industrySoftware

52

Embedded Control for Multiple Target Platforms

Features ● Modelica support for configuration of embedded systems

(syn. sub-tasks, asyn. tasks, multi-processors, ....)● Modelica_EmbeddedSystems library for convenient

drag & drop usage + some free hardware drivers

Breakthroughs ● Modelica language extensions to

support partitioning of complex models● No change of logical model for different

physical architectures: HIL, SIL, MIL, ...(via inheritance and redeclaration)

● Full implementation in Dymola

Validation ● Hardware support based on

Modelica_EmbeddedSystems for● Real-time Linux (Comedi)● Windows● dSPACE● Lego Mindstorms NXT

Cross industry

Library

Open Source

Language

Commercial

Software

53

WP7 - Properties and Safety Modeling

54

Properties and Safety Modeling

ObjectivesThe objectives are:

- To express and model properties required of a system. These properties may be associated to a system behaviour and be validated by simulation.

- to support risk analysis by introducing specific safety-oriented-concepts like events, transitions and synchronizations.

Sub work-packages7.1 Properties Modeling

7.2 Safety Modeling

55

Properties Modeling Features ● Express Properties in Modelica● Associate Property models with System

behavior● Specify constraints on system elements● Define the validity domain of physical models● Enhance system documentation● Develop a prototype Library to formally state

properties with the current Modelica capabilities

● Need to extend Modelica with new concepts to address properties of complex/industrial systems

Breakthroughs ● Include overall goals, constraints, validity

limits of the system● Include assumptions (about the environment) ● Reuse, save time, improve transmission of

knowledge● Keep track of property evolution due to design

or operational improvement

Validation ● ECS (Use Case from Dassault Aviation)● SRI (Use case from EDF)

Commercial

Cross industryLanguageOpen Source

56

Safety Modeling Features ● Propose to the safety engineer a high level

formalism dedicated to the risk analysis● Based on the grammar of Modelica language ● Safety concepts: event (failure, repair…),

synchronizations (Common Cause Failure), probability distributions…

● Generalize classical safety formalisms (Fault Trees, Markov graphs, Reliability Block Diagrams…)

● Convenient to handle with looped systems

Breakthroughs ● A complete integration in a System Engineering

design process● Capability to reuse and to share knowledge of

a system● Traceability between the system specifications

and the safety models● Capability to verify and validate the modeling

with event-driven simulation and observation of failure propagation

● The possible compilation into a classical fault tree to deduce the minimal cutsets and the probabilities

● Make accessible to the non-specialists the safety-oriented modeling and analysis

Validation ● Typical use cases well known in safety

engineering

Commercial

Cross industryLanguage

57

WP8 - Vehicle Systems

58

Vehicle Systems

ObjectivesEnhance Modelica for detailed and for real-time vehicle system models.

Sub work-packages8.1 Vehicle Interfaces Library

8.2 AlternativeVehicles Library

8.3 Engine Libraries

8.4 Free Piston Linear Alternator Library

8.5 Tire Library

8.6 Mechatronics Opening Library

8.8 Heat Exchanger Stack & Under-hood

8.9 VehicleControls Library

59

Vehicle InterfacesFeatures ● Provide standardized interfaces

of all major vehicle components(to support easy combination ofvehicle libraries from differentvendors).

Breakthroughs ● The library is distributed with Dymola 7.● Most sWP8.x libraries are based on it.● Dassault Aviation has adapted and

used the library for aircraft systems.

Validation ● By libraries that are based on

VehicleInterfaces(sWP 8.2, 8.3, 8.4, 8.9)


ProblemThe library shall be placed in the public domain. The copyright transfer contract by Dynasim, Modelon, DLR is still ongoing.

60

Alternative VehiclesFeatures ● Simulation of alternative power

trains like hybrids, fuel cell hybridand battery electric vehicles

● Component models, e.g. fuel cells, batteries, super caps, fly wheels,e-motors, engines, transmissions,and cooling cycles

● Based on VehicleInterfaces

Breakthroughs ● Analyzing and benchmark of

alternative power trains and operation strategies in Modelica

● Determination of energy consumptionpower train efficiency, electrical range, etc.

Validation ● The component models are

validated against characteristic curves and

● own measurement data

CommercialLibrary

Serial Range Extender

61

Engine Features ● Mean Value and Crank Angle

Resolved engine modeling● Engine fluid dynamics● Emissions aftertreatment● Excellent inter-library

compatibility

Breakthroughs ● Modeling combustion engines in

Modelica ● Enables driveline tensional analysis

with engine torque pulsations ● Improved efficiency of multi-body

mechanics for rotating systems

Validation ● Using engine test data● Using correlated GT Power

models

CommercialLibrary

62

Advanced engine combustionFeatures ● Complete library containing all

components for air systems● Advanced gasoline combustion

Coherent Flame Model (CFM)● Advanced Diesel combustion model

(Barba)

Breakthroughs ● Library intended for :

● Development of engine control strategies

● Pre calibration of ECU● Air system architecture studies

Validation ● Comparison with existing

commercial libraries● Comparison with experimental

results

CommercialLibrary

63

Free Piston Linear Generator Features ● FPLG Combustion Lib (Media

models for combustion process based on media package of MSL)

● FPLG Vehicle Model Library ( based on VehicleInterfaces Lib and AlternativeVehiclesLib)

● 6dof ElectricVehicleLibrary (car dynamics, chassis control and parameterized electric machine models)

Breakthroughs ● Library for FPLG, a completely new

combustion engine ● Fuel consumption and energy

management optimization for different vehicle architectures with FPLG modules.

Validation ● Results of different media models

were compared (quality of thermo dynamic state functions)

● Lane change driving maneuver (ISO 3888-1 double lane change)

InternalLibrary

64

Tire LibraryFeatures ● Interface to FTire tire model● Compatible to Modelon’s

VehicleDynamics Library

● Visualization also possible with Visualizers package from DLR-RM.

Breakthroughs ● Makes high frequency tire model with

internal dynamics available to Modelica world

● Animation of road shape and tire deformation

Validation ● Comparison to measurements at

Dassault Aviation

CommercialLibrary

65

Mechatronics Opening Systems Features ● Easy to use package for convertible roof systems● Including impact and motion control● Subpackages of splines, point-to-curve

and point-to-surface contacts

Breakthroughs ● Simulation of complete retractable hard

top including sliders, stops and bushings.

Validation ● Comparing results between

Dymola/ConvertiblePackageKAGand Pro/ENGINEER as well as SIMPACK

CommercialLibrary

66

Heat Exchanger Stack & Under-hoodFeatures ● Thermal library● Materials database● Moist Air library● Combined with WP5.1

Thermal-Hydraulic library

Breakthroughs ● Acausal modeling with series of heat exchanges

R-R or thermal capacities C-C ● Liquid/Liquid heat exchangers: counter/parallel flows● Liquid/Gas heat exchangers

Validation ● Non regression tests with

LMS Imagine.Lab libraries for referenced applications

Commercial


67

Vehicle Controls

Features ● Vehicle dynamics models of controlled vehicles.● Common vehicle dynamics control and driver

assistance systems(ABS, ASC, ESP, AFS, CDC, ABC, ACC).Scope: function principles,no models of proprietary systems

● Future vehicle dynamics control systems based on non-linear inverse models and online optimization or model predictive control.

● Demonstration with use cases.

Breakthroughs ● All-round collection of models for

vehicle dynamics, active chassis components, vehicle control systems

● Interactive driving simulator featuring integrated chassis control demonstrated.

Validation ● Complete parameterization of mid

class vehicle including validation against experimental data in cooperation with an OEM

● Functional plausibility review of vehicle control systems

● Proved in multiple industrial cooperation/research projects

CommercialLibrary

Documents

EUROSYSLIB main objectives