Conference article

A Library for Synchronous Control Systems in Modelica

Martin Otter
DLR Institute of System Dynamics and Control, Wessling, Germany

Bernhard Thiele
DLR Institute of System Dynamics and Control, Wessling, Germany

Hilding Elmqvist
Dassault Systèmes AB, Ideon Science Park, Lund, Sweden

Download articlehttp://dx.doi.org/10.3384/ecp1207627

Published in: Proceedings of the 9th International MODELICA Conference; September 3-5; 2012; Munich; Germany

Linköping Electronic Conference Proceedings 76:2, s. 27-36

Show more +

Published: 2012-11-19

ISBN: 978-91-7519-826-2

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

Abstract

Based on the synchronous language elements introduced in Modelica 3.3; a library is described to utilize the new features in a convenient way for graphical model definition of sampled data systems. The library has elements to define periodic; non-periodic and event clocks that trigger elements to sample; sub-sample or super-sample partitions synchronously. Optionally; quantization effects; computational delay or noise can be simulated. Continuous-time equations can be automatically discretized and utilized in a sampled data system. This is demonstrated by utilizing the inverse of a nonlinear plant model in the feed forward path of a discrete controller of a mixing unit.

Keywords

Synchronous models; sampled data systems; periodic systems; inverse systems

References

Baur M.; Otter M.; and Thiele B. (2009): Modelica Libraries for Linear Control Systems. Proceedings of 7th International Modelica Conference; Como; Italy; September 20-22. www.ep.liu.se/ecp/043/068/ecp09430068.pdf

Benveniste A.; Caspi P.; Edwards S.A.; Halbwachs N.; Le Guernic P.; and Simone R. (2003): The Synchronous Languages Twelve Years Later. Proc. of the IEEE; Vol.; 91; No. 1. www.irisa.fr/distribcom/benveniste/pub/synch_ProcIEEE_2002.pdf. doi: 10.1109/JPROC.2002.805826.

Bellmann T. (2009): Interactive Simulations and advanced Visualization with Modelica. Proceedings of 7th International Modelica Conference; Como; Italy; September 20-22. www.ep.liu.se/ecp/043/062/ecp09430056.pdf

Colaco J.-L.; and Pouzet M. (2003): Clocks as First Class Abstract Types. In Third International Conference on Embedded Software (EMSOFT’03); Philadelphia; Pennsylvania; USA; October 2003. http://www.di.ens.fr/~pouzet/lucidsynchrone/papers/emsoft03.ps.gz

Dassault Systèmes (2012): Dymola. http://www.Dymola.com

Elmqvist H.; Otter M. and Cellier F.E. (1995): Inline Integration: A New Mixed Symbolic/Numeric Approach for Solving Differential-Algebraic Equation Systems. Keynote Address; Proceedings ESM’95; European Simulation Multiconference; Prague; Czech Republic; June 5-8; pp. xxiii-xxxiv. http://citeseerx.ist.psu.edu/viewdoc/download;jsessionid=6E666F4221CFED902DCA7BDF8DC51AB6?doi=10.1.1.127.3787&rep=rep1&type=pdf

Elmqvist H.; Otter M.; Henriksson D.; Thiele B.; Mattsson S.E. (2009): Modelica for Embedded Systems; Proceedings 7th Modelica Conference; Como; Italy; Sep. 20-22. http://www.ep.liu.se/ecp/043/040/ecp09430096.pdf

Elmqvist H.; Otter M.; and Mattsson S.E. (2012): Fundamentals of Synchronous Control in Modelica. Proceedings of 9th International Modelica Conference; Munich; Germany; Sep. 3-5.

Föllinger O. (1998): Nichtlineare Regelungen I; Oldenbourg Verlag; 8. Auflage.

Forget J.; F. Boniol; D. Lesens; C. Pagetti (2008): A Multi-Periodic Synchronous Data-Flow Language. In 11th IEEE High Assurance Systems Engineering Symposium (HASE’08); Dec. 3-5 2008; Nanjing; China; pp. 251-260. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reoad=true&arnumber=4708883&contentType=Conference+Publications

Looye G.; Thümmel M.; Kurze M.; Otter M.; and Bals J. (2005): Nonlinear Inverse Models for Control. Proceedings of 4th International Modelica Conference; ed. G. Schmitz; Hamburg; March 7-8. https://www.modelica.org/events/Conference2005/online_proceedings/Session3/Session3c3.pdf

Modelica Association (2012): Modelica Language Specification Version 3.3. https://www.modelica.org/documents/ModelicaSpec33.pdf.

Pouzet M. (2006): Lucid Synchrone; Version 3.0; Tutorial and Reference Manual. http://www.di.ens.fr/~pouzet/lucid-synchrone/

Citations in Crossref