Model-based control with FMI and a C++ runtime for Modelica

Rüdiger Franke; Marcus Walther; Niklas Worschech; Willi Braun; Bernhard Bachmann

Title:

Author:

Rüdiger Franke: ABB, Germany Marcus Walther: TU Dresden, Germany Niklas Worschech: Bosch Rexroth, Germany Willi Braun: FH Bielefeld, Germany Bernhard Bachmann: FH Bielefeld, Germany

DOI:

10.3384/ecp15118339

Download:

Full text (pdf)

Year:

2015

Conference:

Proceedings of the 11th International Modelica Conference, Versailles, France, September 21-23, 2015

Issue:

118

Article no.:

036

Pages:

339-347

No. of pages:

Publication type:

Abstract and Fulltext

Published:

2015-09-18

ISBN:

978-91-7685-955-1

Series:

Linköping Electronic Conference Proceedings

ISSN (print):

1650-3686

ISSN (online):

1650-3740

Publisher:

Linköping University Electronic Press, Linköpings universitet

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Modelica describes physical systems on a high level, using model objects, multi-dimensional arrays and oth-er data structures as well as graphical representations. Modelica models are translated to differential-algebraic equation systems and compiled to executable code pri-or to their execution in numerical solvers. The transla-tion gives a lot of possibilities for code optimization. This is particularly important for model-based control applications. This paper investigates the exploitation of C++ for Modelica code optimization. C++ supports advanced programming concepts and at the same time aims to “leave no room for a lower-level language … (except for assembly code in rare cases)” [6]. The multitude of different requirements on arrays is treated with polymorphism. Templates keep the C++ code small and improve type safety. Built-in exception handling and destructors for memory management also contribute to smaller and more readable code. These ideas have been implemented in the OpenModel-ica C++ runtime. The paper describes its enhancement with new array features and with an FMI 2.0 interface. FMI serves as interface between modeling tools and control applications. In particular the new FMI 2.0 meets requirements of numerical optimization solvers in model-based control. A publically available application example demon-strates the achievements. CPU times obtained with the OpenModelica C++ runtime are significantly faster than CPU times obtained with the C runtime or with Dymola.

Keywords: Modelica; OpenModelica; FMI C++ model-based control; MPC; MHE; SQP; HQP

Proceedings of the 11th International Modelica Conference, Versailles, France, September 21-23, 2015

Author:

Rüdiger Franke, Marcus Walther, Niklas Worschech, Willi Braun, Bernhard Bachmann

Title:

Model-based control with FMI and a C++ runtime for Modelica

DOI:

http://dx.doi.org/10.3384/ecp15118339

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Proceedings of the 11th International Modelica Conference, Versailles, France, September 21-23, 2015

Author:

Rüdiger Franke, Marcus Walther, Niklas Worschech, Willi Braun, Bernhard Bachmann

Title:

Model-based control with FMI and a C++ runtime for Modelica

DOI:

https://doi.org10.3384/ecp15118339

Note: the following are taken directly from CrossRef

Citations:

Peter Fritzson, Adrian Pop, Karim Abdelhak, Adeel Ashgar, Bernhard Bachmann, Willi Braun, Daniel Bouskela, Robert Braun, Lena Buffoni, Francesco Casella, Rodrigo Castro, Rüdiger Franke, Dag Fritzson, Mahder Gebremedhin, Andreas Heuermann, Bernt Lie, Alachew Mengist, Lars Mikelsons, Kannan Moudgalya, Lennart Ochel, Arunkumar Palanisamy, Vitalij Ruge, Wladimir Schamai, Martin Sjölund, Bernhard Thiele, John Tinnerhol & Per Östlund (2020). The OpenModelica Integrated Environment for Modeling, Simulation, and Model-Based Development. Modeling, Identification and Control: A Norwegian Research Bulletin, 41(4): 241. DOI: 10.4173/mic.2020.4.1

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