Conference article

Modelica for Embedded Systems

Hilding Elmqvist
Dassault Systèmes, Lund, Sweden

Martin Otter
German Aerospace Centre (DLR), Institute for Robotics and Mechatronics, Germany

Dan Henriksson
Dassault Systèmes, Lund, Sweden

Bernhard Thiele
German Aerospace Centre (DLR), Institute for Robotics and Mechatronics, Germany

Sven Erik Matsson
Dassault Systèmes, Lund, Sweden

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Published in: Proceedings of the 7th International Modelica Conference; Como; Italy; 20-22 September 2009

Linköping Electronic Conference Proceedings 43:40, s. 354-363

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Published: 2009-12-29

ISBN: 978-91-7393-513-5

ISSN: 1650-3686 (print), 1650-3740 (online)


New language elements are introduced in Modelica 3.1 to facilitate use Modelica models in embedded systems; e.g.; as controllers. Models can be conveniently configured by marking the borders of the respective controller parts and by defining the mapping of the marked parts to target processors and target tasks.

This approach allows to define a “logical” model from which all different “real” controller configurations for Model-; Software-; Hardware-in-the-Loop (MiL; SiL; HiL); rapid prototyping; and production code for multi-processing/multi-tasking are automatically derived by setting configuration options. Furthermore; a new; free library - Modelica_EmbeddedSystems - is presented that provides a convenient user interface to the new language elements. In summary; the power of Modelica in the area of realtime control is improved significantly.


Embedded systems; real-time control; Multi-tasking; multi-core; multi-rate; model parallelization; Model-in-the-Loop; Software-in-the-Loop; Hardware-in-the-Loop; rapid prototyping


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