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IST Programme Contract No. IST-1999-11979. RealSim. RealSim is Real Time Sim ulation for Design of Multi-Physics Systems RealSim goal: bring Modelica to industry Objectives : Develop high-performance Modelica simulators

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Realsim l.jpg

IST Programme

Contract No. IST-1999-11979


RealSim is Real Time Simulation forDesign of Multi-Physics Systems

RealSim goal: bring Modelica to industry


  • 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 D3please visit the page for public reports and find the report there.

  • For other materials please contact relevant partners

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  • 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

A = if not deltax>0 then 0 else


Courtesy Toyota Tecno-Service

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Project map

MS SQL Server


Modeland DataManagement

Multiple CompiledExecutables

NewModelica Code




User Interface





New Modelica Libraries


Power System











Interactive Visualization






Optimizer(in Matlab,C)

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  • 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 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 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

(see D39)

Cult3D graphics

in WWW browser

Modelica - based



(Java widgets)




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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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Robot component library

Optimization Software Architecture

Internal datastructure

static calculation

Matlab GUI

Dymola Modelica translator

File: robot115.exe


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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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    Modular Power Converter


    • 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

    • 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

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