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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

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 D3please 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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Example - Car Power Train

Typical multi-physics system

A = if not deltax>0 then 0 else

Amax*(1-exp(-Ainc/Amax*deltax));

Courtesy Toyota Tecno-Service


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Project map

MS SQL Server

RobotProduct

Modeland DataManagement

Multiple CompiledExecutables

NewModelica Code

Visio

Mathematica

AutoCAD

User Interface

SolidWorks

RobotComponents

MathModelica

Multibody

New Modelica Libraries

CADTranslation

Power System

Components

Translation

ModelicaLibraries

Dymola

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 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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Internet-based visualization

(see D39)

Cult3D graphics

in WWW browser

Modelica - based

simulation

Control

(Java widgets)

CLIENT

INTERNET

Server




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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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Database

Robot component library

Optimization Software Architecture

Internal datastructure

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


  • Modeling software for power systems l.jpg
    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)


    Hardware in the loop l.jpg

    Modular Power Converter

    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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    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