Article | Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017 | Model-based Embedded Control using Rosenbrock Integration Methods Linköping University Electronic Press Conference Proceedings
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Title:
Model-based Embedded Control using Rosenbrock Integration Methods
Author:
Hans Olsson: Dassault Systèmes AB, Lund, Sweden Sven Erik Mattsson: Dassault Systèmes AB, Lund, Sweden Martin Otter: DLR, Institute of System Dynamics and Control, Germany Andreas Pfeiffer: DLR, Institute of System Dynamics and Control, Germany Christoff Bürger: Dassault Systèmes AB, Lund, Sweden Dan Henriksson: Dassault Systèmes AB, Lund, Sweden
DOI:
10.3384/ecp17132517
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.:
058
Pages:
517-526
No. of pages:
10
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


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Directly generating controller code from models is important for advanced model-based design. This paper describes how Dymola can generate embedded C-code from Modelica models, designed to be easy to embed, with care about minimal foot-print, traceability, and straightforward integration in embedded platforms and gives actual application examples.

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The paper focuses on using Rosenbrock methods for index-1 problems (instead of the normal transformation to index 0) that allows Dymola to handle stiff systems in a way that both is theoretically sound and has an upper bound on the execution time per sample.

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The stiff systems in the control system often occur due to using an inverse (simplified) model of the real plant in the controller. A nonlinear feedforward controller and a controller with feedback linearization, both applying an inverse model, demonstrate the proposed process by using Rosenbrock methods for embedded code generation.



Keywords: Modelica, inverse models, real-time, embedded, Rosenbrock methods, inline integration, feedforward controller, feedback linearization

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

Author:
Hans Olsson, Sven Erik Mattsson, Martin Otter, Andreas Pfeiffer, Christoff Bürger, Dan Henriksson
Title:
Model-based Embedded Control using Rosenbrock Integration Methods
DOI:
http://dx.doi.org/10.3384/ecp17132517
References:

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SCADE: www.esterel-technologies.com/products/scade-suite

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

Author:
Hans Olsson, Sven Erik Mattsson, Martin Otter, Andreas Pfeiffer, Christoff Bürger, Dan Henriksson
Title:
Model-based Embedded Control using Rosenbrock Integration Methods
DOI:
https://doi.org10.3384/ecp17132517
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