Article | Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017 | Discrete-time models for control applications with FMI Linköping University Electronic Press Conference Proceedings
Göm menyn

Title:
Discrete-time models for control applications with FMI
Author:
Rüdiger Franke: ABB AG, Mannheim, Germany Sven Erik Mattsson: Dassault Systèmes AB, Lund, Sweden Martin Otter: DLR, Institute of System Dynamics and Control, Germany Karl Wernersson: Dassault Systèmes AB, Lund, Sweden Hans Olsson: Dassault Systèmes AB, Lund, Sweden Lennart Ochel: Department of Computer and Information Science, Software and Systems, Linköping University, Sweden Torsten Blochwitz: ESI ITI GmbH, Dreseden, Germany
DOI:
10.3384/ecp17132507
Download:
Full text (pdf)
Year:
2017
Conference:
Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017
Issue:
132
Article no.:
057
Pages:
507-515
No. of pages:
9
Publication type:
Abstract and Fulltext
Published:
2017-07-04
ISBN:
978-91-7685-575-1
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


Export in BibTex, RIS or text

The paper proposes an extension of FMI 2.0 for the rigorous treatment of discrete-time models. This includes the introduction of discrete-time states, the declaration of clocks in the model description and an extension of the calling interface for the external activation of clocks by an importing environment.
The synchronous discrete-time extension enables for the first time the synchronization of FMUs with the environment and with other FMUs. It specializes the existing generic event mechanism of FMI 2.0 and maps to synchronous features of Modelica.
Discrete-time FMUs are needed for the generation of controller code from functional models. This paper outlines different use cases, including a simple PI controller, feed forward control with a nonlinear inverse model and nonlinear model predictive control.
The FMI change proposal FCP-001 and the Modelica change proposal MCP-0024 describe the proposed extensions in more detail. Test implementations exist in the simulation tools Dymola and OpenModelica and in the importing optimization solver HQP. The use cases given in this paper served for further refinement of the change proposals and the test implementations.



Keywords: Modelica, Synchonous modeling, Inline Integration, Modelica, Synchonous modeling, Inline Integration, Model-based Control, Nonlinear Inverse Model, Feed Forward Control, NMPC

Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017

Author:
Rüdiger Franke, Sven Erik Mattsson, Martin Otter, Karl Wernersson, Hans Olsson, Lennart Ochel, Torsten Blochwitz
Title:
Discrete-time models for control applications with FMI
DOI:
http://dx.doi.org/10.3384/ecp17132507
References:

T. Blochwitz, M. Otter, J. Åkesson, M. Arnold, C. Clauß, H. Elmqvist, M. Friedrich, A. Junghanns, J. Mauss, D. Neumerkel, H. Olsson, A. Viel: Functional Mockup Interface 2.0: The Standard for Tool independent Exchange of Simulation Models, 9th International Modelica Conference, Munich, 2012. http://www.ep.liu.se/ecp/076/017/ecp12076017.pdf

H. Chen, A. Kremling, F. Allgöwer: Nonlinear Predictive Control of a Benchmark CSTR, Proceedings 3rd European Control Conference ECC’95, Rome, 1995.

H. Elmqvist, M. Otter, S.E. Mattsson: Fundamentals of Synchronous Control in Modelica, 9th International Modelica Conference, Munich, 2012. http://www.ep.liu.se/ecp/076/001/ecp12076001.pdf

H. Elmqvist, M. Otter, F. Cellier: Inline integration: A new mixed symbolic/numeric approach for solving differentialalgebraic equation systems. In Proceedings ESM European Simulation Multiconference, Prague, 1995.

S. Engell, K.-U. Klatt. Nonlinear control of a nonminimum phase CSTR. In Americal Control Conference, Los Angeles, 1993.

R. Franke, E. Arnold: Applying new numerical algorithms to the solution of discrete-time optimal control problems. In: Computer Intensive Methods in Control and Signal Processing: The Curse of Dimensionality, Birhäuser, Basel, 1997.

R. Franke, M. Walther, N. Worschech, W. Braun, B. Bachmann: Model-based control with FMI and a C++ runtime for Modelica. Proceedings of 11th International Modelica Conference, Paris 2015. https://www.modelica.org/events/modelica2015/proceedings/html/submissions/ecp15118339_FrankeWaltherWorschechBraunBachmann.pdf

R. Franke: Initialization of Clocked Discrete States, Modelica Change Proposal MCP-0024 2016. https://svn.modelica.org/projects/MCP/public/MCP-0024_InitializationClockedStates/MCP-0024_InitializationClockedStates.docx

Functional Mock-up Interface for Model Exchange and Co-Simulation, Version 2.0, July 2014.

G. Looye, M. Thümmel, M. Kurze, M. Otter, J. Bals: Nonlinear Inverse Models for Control. Proceedings of 4th International Modelica Conference, Hamburg, 2005. https://www.modelica.org/events/Conference2005/online_proceedings/Session3/Session3c3.pdf

Modelica Association: Modelica – A Unified Ob-ject-Oriented Language for Systems Modeling. Language Specification, Version 3.3. May 9, 2012.

M. Otter, S.E. Mattsson, R. Franke, H. Elmqvist, T. Blochwitz: Discrete States and Time Events in FMI (#353), FMI Change Proposal FCP-001, 2016.
https://svn.fmi-standard.org/fmi/trunk/FMI_ChangeProposals/FCP_001_SampledDataSystemsForModelExchange/FMI_Proposal_DiscreteStates_TimeEvents.docx

M. Otter, B. Thiele, H. Elmqvist: A Library for Synchronous Control Systems in Modelica, 9th International Modelica Conference, Munich, 2012. http://www.ep.liu.se/ecp/076/002/ecp12076002.pdf

Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017

Author:
Rüdiger Franke, Sven Erik Mattsson, Martin Otter, Karl Wernersson, Hans Olsson, Lennart Ochel, Torsten Blochwitz
Title:
Discrete-time models for control applications with FMI
DOI:
https://doi.org10.3384/ecp17132507
Note: the following are taken directly from CrossRef
Citations:
  • Simon Gorecki, Judicael Ribault, Gregory Zacharewicz, Yves Duc & Nicolas Perry (2019). Risk management and distributed simulation in Papyrus tool for decision making in industrial context. Computers & Industrial Engineering, 137: 106039. DOI: 10.1016/j.cie.2019.106039


  • Responsible for this page: Peter Berkesand
    Last updated: 2019-11-06