RealSim

1
RealSim
IST Programme Contract No. IST-1999-11979

• RealSim is Real Time Simulation forDesign of
  Multi-Physics Systems
• RealSim goal bring Modelica to industry
• Objectives
• Develop high-performance Modelica simulators
• Develop better tools for modeling, simulation and
  visualization for use by industry
• Demonstrate practical industrial applications for
  Modelica

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Finding more information

• More information can be found in RealSim Public
  Reports.
• If you see text like this 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
  mathematicallanguage
• Supports differential algebraic equations
• Supports discrete events
• Permits multi-domain simulation

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Modelica libraries of ready components
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Example - Car Power Train

• Typical multi-physics system

Courtesy Toyota Tecno-Service
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Project map
NewModelica Code
Mathematica
Visio
AutoCAD
User Interface
SolidWorks
RobotComponents
MathModelica
Multibody
New Modelica Libraries
CADTranslation
Power System Components
Translation
Dymola
ModelicaLibraries
Parallelizer
SPOT
SimulationExecutable
Dym2DSP
Execution
DspaceHardware
Interactive Visualization
MathModelica
OpenGLVisualization
ExternalHardware
Visualization/Analysis
Cult3DVisualization
Optimizer(in Matlab,C)
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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 Modelicas
  Multi-Body Library
• Paper presented atModelica 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 integrationmethod for
  simulatingstiff models.
• Automatic partitioningof fast and
  slowdynamics 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
(see D39)
Cult3D graphics in WWW browser
Modelica - based simulation
Control (Java widgets)
CLIENT
INTERNET
Server
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Internet-(1)
20
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
Internal data structure
static calculation
Matlab GUI
Dymola Modelica translator
File robot115.exe
File robot115.mo
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Robot Configuration Systems
Assembly of components into a robot
Define which components are assembled
Define how they are assembled
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Steering a robot

• Recent display by KUKA DLR at theHannover 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

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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