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Proceedings of the 7th International Workshop on Equation-Based Object-Oriented Modeling Languages and Tools最新文献

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Task graph based system partitioning for multirate integration 基于任务图的多速率集成系统划分
V. Waurich, M. Flehmig
Models with loosely coupled subsystems and network models are often characterised by subsystems of different dynamics. Therefore, mulirate methods have been brought into the EOOLT community over the last couple of years. These methods split the system into a fast and a slow part and integrate them using different step sizes to obtain faster simulations. Besides the numerical properties of multirate methods, an important challenge is to divide the system into a manageable number of subpartitions which can be assigned to a suitable step size. This paper presents a promising approach towards system partitioning for multirate integration that is based on a systems task graph. The proposed algorithms and the guard mechanism aim to reduce the overhead of the multirate method which is introduced by deciding between active and latent variables at simulation execution time.
具有松散耦合子系统和网络模型的模型通常以具有不同动力学的子系统为特征。因此,在过去的几年里,多种方法被引入了eolt社区。这些方法将系统分为快速和慢速部分,并使用不同的步长将它们集成以获得更快的模拟。除了多速率方法的数值特性外,一个重要的挑战是将系统划分为可管理的数量的子分区,这些子分区可以分配到合适的步长。本文提出了一种基于系统任务图的多速率集成系统划分方法。所提出的算法和保护机制旨在减少多速率方法在仿真执行时在主动变量和潜在变量之间进行选择所带来的开销。
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引用次数: 0
Exploiting model graph analysis for simplified modeling and improved diagnostics 利用模型图分析简化建模和改进诊断
H. Elmqvist, S. Mattsson
In systems modeling, the dynamic behavior is approximated by considering certain properties to be constant in space in each physical component of the system. Such models are called lumped element models and are composed of connected components. Each component is described by ordinary differential equations and algebraic equations. The theory of linear graphs or model graphs can be helpful for analysis of such models. This paper presents a unified methodology for describing and analyzing network topology, using both linear graphs and the underlying algebraic equations, i.e. to take advantage of linear graph methods to enhance symbolic manipulation of model equations in order to handle underdetermined sets of potential variables and overdetermined sets of flow variables. The methodology is extended to handle overdetermined potential variables which arise, for example, when dealing with 3D rotations in multi body systems. It also allows handling of planar loops without any special attention by the user. This methodology for treating lumped models is in particular applicable to Modelica tools and would in certain cases allow simulation of ungrounded circuits and otherwise enable better diagnostics, for example when forgetting to ground an electrical circuit. It will also simplify the Multibody library of Modelica Standard Library.
在系统建模中,通过考虑系统的每个物理组件在空间中恒定的某些属性来近似动态行为。这样的模型被称为集总元素模型,由连接的组件组成。每个分量用常微分方程和代数方程来描述。线性图或模型图的理论可以帮助分析这类模型。本文提出了一种统一的方法来描述和分析网络拓扑,同时使用线性图和底层代数方程,即利用线性图方法来增强模型方程的符号操作,以处理欠定的潜在变量集和超定的流量变量集。该方法被扩展到处理超确定的潜在变量,例如,当处理多体系统中的三维旋转时。它还允许处理平面循环,而不需要用户特别注意。这种处理集总模型的方法特别适用于Modelica工具,并且在某些情况下允许模拟不接地的电路,否则可以更好地进行诊断,例如当忘记为电路接地时。它也将简化Modelica标准库的多体库。
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引用次数: 3
QSS and multi-rate simulation of object-oriented models 面向对象模型的QSS和多速率仿真
Federico Bergero, Akshay Ranade, F. Casella
Object-Oriented (O--O) languages like Modelica allow the description of multi-domain dynamical models. These models represent a Differential Algebraic Equation (DAE) that is usually converted to an Ordinary Differential Equation (ODE) formulation and simulated using numerical integration methods. Most Modelica tools include Single-Rate integration methods based on time discretization. Recently developed ODE numerical integration methods like Quantized State Systems (QSS) and Multi-Rate algorithms have some features (sparsity exploitation, efficient stiffness handling, efficient integration of loosely coupled systems of equations) that makes them suitable for many applications. By their nature, efficient implementation of these methods requires a different perspective on the model than classical methods, thus it is not a trivial task to implement them in Modelica tools. The Functional Mock-up Interface (FMI) is a tool independent standard for model exchange and co-simulation. Models are exchanged as compiled binaries (Functional Mockup Unit - FMU) with an API that allows the evaluation and simulation of the model. The FMU presents the model as a hybrid ODE on which numerical integration methods (such as Euler, Runge-Kutta) are applied for simulation. In this article we propose an extension to the FMU API to allow QSS and Multi-Rate simulation of O--O oriented models by means of FMI Model-Exchange. This extension opens up the possibility of testing and fine tuning QSS and Multi-Rate algorithms on a wide range of system models. Some results obtained with a prototype implementation on two example cases are reported.
像Modelica这样的面向对象(O- O)语言允许描述多领域动态模型。这些模型表示微分代数方程(DAE),通常转换为常微分方程(ODE)公式,并使用数值积分方法进行模拟。大多数Modelica工具包括基于时间离散化的单速率集成方法。近年来发展起来的ODE数值积分方法,如量化状态系统(QSS)和多速率算法具有一些特点(稀疏性利用、有效的刚度处理、松耦合方程组的有效集成),使它们适合于许多应用。就其本质而言,这些方法的有效实现需要从不同于经典方法的角度来看待模型,因此在Modelica工具中实现它们并不是一项简单的任务。功能模型接口(FMI)是一个独立于工具的模型交换和协同仿真标准。模型作为编译的二进制文件(功能模拟单元- FMU)交换,带有允许模型评估和模拟的API。FMU将模型呈现为混合ODE,并在其上应用数值积分方法(如欧拉、龙格-库塔)进行仿真。在本文中,我们提出了对FMU API的扩展,以允许通过FMI模型交换对面向0—0的模型进行QSS和多速率仿真。这个扩展打开了测试和微调QSS和多速率算法在广泛的系统模型的可能性。文中给出了两个实例的原型实现结果。
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引用次数: 3
Nonlinear model predictive control in modelica using FMI and optimization library 基于FMI和优化库的非线性模型预测控制
A. Seefried, A. Pfeiffer
In this work-in-progress paper, a currently ongoing development of a generic tool for nonlinear model predictive control is presented. By using an extended interface of FMI 2.0, it is possible to simulate a model that acts as prediction model while the actual system is simulated simultaneously. A trajectory optimization that uses the prediction model provides optimized input control values for the actual system at every sample time. The current work is based on the Optimization library for Dymola and an extended version of FMI 2.0 Co-Simulation. The structure of this approach is explained in detail as well as possible settings and limitations. An example shows the practicability and an outlook for further development is given.
在这篇正在进行的论文中,介绍了目前正在开发的非线性模型预测控制通用工具。通过FMI 2.0的扩展接口,可以在模拟实际系统的同时,模拟一个作为预测模型的模型。使用预测模型的轨迹优化在每个采样时间为实际系统提供优化的输入控制值。目前的工作是基于Dymola的优化库和FMI 2.0 Co-Simulation的扩展版本。详细解释了该方法的结构以及可能的设置和限制。通过实例说明了该方法的实用性,并对今后的发展进行了展望。
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引用次数: 1
Dynamic tearing: efficiency enhancement of tearing methods by consideration of solvability criteria during runtime 动态撕裂:通过考虑运行时的可解性标准来提高撕裂方法的效率
Patrick Täuber, Lennart A. Ochel, B. Bachmann
Common tearing methods try to find static tearing variables. This means that selected tearing variables are used for the entire simulation, which also means that all inner equations are used for the entire simulation. Hence, the tearing method sets up the tearing system in a way, that there are no restrictions on the domain of the inner equations. In general, this leads to bigger tearing sets. This paper presents an extension of common tearing methods that generates another tearing set in addition. The additional set has fewer tearing variables, which means that it should be more efficient in general. However, the additional set has some restrictions on its domain of definition. That is why common approaches would not even create it and why it may not be used for the entire simulation. Hence, its domain needs to be analysed during simulation to validate if the smaller set is defined on the current domain. If that is the case the smaller set is used for the calculation, otherwise the original set is used. This paper shows how this additional tearing set can be generated. It is also demonstrated how the domain can be monitored during runtime in order to make the switching process efficient. Results using a prototype implementation in OpenModelica are analysed to show the benefits of this method.
常见的撕裂方法试图找到静态撕裂变量。这意味着选择撕裂变量用于整个模拟,这也意味着所有的内部方程用于整个模拟。因此,撕裂法以一种对内方程的定义域没有限制的方式建立了撕裂系统。一般来说,这会导致更大的撕裂集。本文对常用的撕裂方法进行了扩展,生成了另一个撕裂集。额外的集合具有更少的撕裂变量,这意味着它通常应该更有效。然而,附加集在其定义域上有一些限制。这就是为什么普通的方法甚至不能创建它,为什么它可能不会用于整个模拟。因此,在模拟过程中需要分析其域,以验证是否在当前域上定义了较小的集合。如果是这种情况,则使用较小的集合进行计算,否则使用原始集合。本文展示了如何生成这个额外的撕裂集。还演示了如何在运行时期间监视域,以使切换过程高效。在OpenModelica中使用原型实现的结果进行了分析,以显示该方法的优点。
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引用次数: 0
Modeling with monads: extensible modeling semantics as syntactic sugar 用单子建模:可扩展的建模语义作为语法糖
Christoph Höger
We present an extensible implementation of Modelica-style modeling semantics. Modeling features are implemented using an intuitive encoding as an extensible state monad. Monadic computation naturally yields model composition and interpretation. This in turn allows for a clear separation between the modular aspects of a modeling language (e.g. classes and inheritance) and the symbolical and numerical treatment of models: While the former can be implemented by a compiler or interpreter, the latter can be moved into a core-library to be maintained by domain-experts. In a second step, we show how the elaboration aspects of the language can be removed by a correct and complete desugaring procedure. The residual language is a simple extension of a call-by-value λ-calculus. Thus it becomes possible to implement a compiler for a modeling language using existing standard techniques.
我们提出了modelica风格建模语义的可扩展实现。建模特性使用直观的编码作为可扩展的状态单子来实现。一元计算自然产生模型组成和解释。这反过来又允许在建模语言的模块化方面(例如类和继承)和模型的符号和数值处理之间进行明确的分离:前者可以由编译器或解释器实现,后者可以移到核心库中,由领域专家维护。在第二步中,我们展示了如何通过正确和完整的脱糖程序去除语言的精雕细琢方面。残差语言是按值调用λ演算的简单扩展。因此,可以使用现有的标准技术实现建模语言的编译器。
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引用次数: 2
DESA: Optimization of variable structure modelica models using custom annotations DESA:使用自定义注释优化变结构模型
Daniel Bender
Optimizing system models in order to support the design process of equipment components or whole architectures is part of daily engineering work. Due to the variety of models, the requirements for the functionalities of such libraries are enormous. Finding the optimal structural design (i.e. of a cold plate) through automated optimization exceeds normal needs. Here the model must provide structural variability. In case of the Modelica language this reaches the limit of its functionality of handling such models for optimization. The use of meta-information such as custom annotations can increase the functionality of the Modelica Language. A tool, called DESA, was developed to overcome these limitations and handle variable structure models. This library uses custom annotations to implement the optimization task to the model. Further the model is exported including these meta-information. The DESA optimization tool then allows to set up the optimization task in a Matlab environment and operates the optimization run. In this way the optimization of variable structure models is achieved.
优化系统模型以支持设备部件或整体架构的设计过程是日常工程工作的一部分。由于模型的多样性,对这些库的功能的需求是巨大的。通过自动化优化找到最优结构设计(如冷板)超出了正常需求。在这里,模型必须提供结构可变性。对于Modelica语言,这已经达到了其处理此类模型以进行优化的功能的极限。使用元信息(如自定义注释)可以增加Modelica语言的功能。一种名为DESA的工具被开发出来,以克服这些限制并处理变结构模型。该库使用自定义注释来实现模型的优化任务。进一步导出模型,包括这些元信息。然后,DESA优化工具允许在Matlab环境中设置优化任务并运行优化运行。这样就实现了变结构模型的优化。
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引用次数: 11
MORAP: a modular robotic arm platform for teaching and experimenting with equation-based modeling languages MORAP:一个模块化机械臂平台,用于基于方程的建模语言的教学和实验
Viktor Kozma, David Broman
Equation-based object-oriented (EOO) modeling and simulation techniques have in the last decades gained significant attention both in academia and industry. One of the key properties of EOO languages is modularity, where different components can be developed independently and then connected together to form a complete acausal model. However, extensive modeling without explicit model validation together with a real physical system can result in incorrect assumptions and false conclusions. In particular, in an educational and research setting, it is vital that students experiment both with equation-based models and the real system that is being modeled. In this work-in-progress paper, we present a physical experimental robotic arm platform that is designed for teaching and research. Similar to EOO models, the robotic arm is modular, meaning that its parts can be reconfigured and composed together in various settings, and used for different experiments. The platform is completely open source, where electronic schematics, CAD models for 3D printing, controller software, and component specifications are available on GitHub. The vision is to form a community, where new open source components are continuously added, to enable an open and freely available physical experimental platform for EOO languages.
基于方程的面向对象(EOO)建模和仿真技术在过去几十年中得到了学术界和工业界的极大关注。面向对象语言的关键属性之一是模块化,可以独立开发不同的组件,然后将它们连接在一起,形成一个完整的因果模型。然而,没有明确模型验证的广泛建模以及真实的物理系统可能导致不正确的假设和错误的结论。特别是,在教育和研究环境中,让学生在基于方程的模型和正在建模的真实系统中进行实验是至关重要的。在这篇正在进行中的论文中,我们提出了一个用于教学和研究的物理实验机器人手臂平台。与EOO模型类似,机械臂是模块化的,这意味着它的部件可以在各种设置下重新配置和组合在一起,并用于不同的实验。该平台是完全开源的,电子原理图、3D打印的CAD模型、控制器软件和组件规格都可以在GitHub上获得。愿景是形成一个社区,不断添加新的开源组件,为EOO语言提供一个开放和免费的物理实验平台。
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引用次数: 0
The use of Ockham's Razor in object-oriented modeling 奥卡姆剃刀在面向对象建模中的应用
Alexander Pollok, A. Klöckner
From the perspective of a practitioner, the development of perfect equation-based models is limited by language, hardware, and one's own mind. While the first two aspects are covered extensively in literature, only little attention has been given to the third one. We make a case for simple models, with a focus on two aspects: use of inheritance and creation of flexible models. Both can have adverse side-effects if used without restriction. To exemplify this discussion, two versions of a library as used in the aerospace industry are compared. The old version made heavy use of inheritance and tried to conduct everything with a minimal number of components. It was completely redesigned after maintenance efforts became too high. A psychological experiment was performed, where the effect of inheritance on the ability of participants to understand a model was analyzed. Results showed that each level of hierarchy significantly increases the time to understand a model by 26.65 s, when correcting for total model length. This supports our hypothesis that flat models are easier to understand than deeply nested models.
从实践者的角度来看,完善的基于方程的模型的发展受到语言、硬件和个人思维的限制。虽然前两个方面在文献中被广泛覆盖,但第三个方面却很少受到关注。我们以简单模型为例,重点关注两个方面:继承的使用和灵活模型的创建。如果不加限制地使用,这两种药物都有副作用。为了举例说明这一讨论,比较了航空航天工业中使用的两个版本的库。旧版本大量使用继承,并试图用最少的组件执行所有操作。在维修工作量过大后,它被彻底重新设计。我们进行了一项心理实验,分析了遗传对参与者理解模型能力的影响。结果表明,在校正模型总长度的情况下,每一层次都显著增加了理解模型的时间26.65 s。这支持了我们的假设,即平面模型比深度嵌套模型更容易理解。
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引用次数: 4
Modelica extensions for supporting message passing communication and dynamic data structures 用于支持消息传递通信和动态数据结构的Modelica扩展
Victorino Sanz, A. Urquia
Discrete-event modeling methodologies, such as DEVS, Parallel DEVS or the process-oriented approach used by Arena, support the description of systems in a modular and hierarchical fashion. In these approaches, model components communicate by means of message interchange. Messages constitute impulses of information instantaneously sent from one component to another, either individually or arranged in groups, or bags. Dynamic data structures are required to manage bags of messages, either locally or as inputs/outputs of components. This communication approach is conceptually different from the connection between components used in the physical modeling approach supported by Modelica. Improving Modelica to support message passing communication facilitates the description of DEVS models and the development of libraries with analogous functionality to Arena. The authors have previously implemented message passing communication in Modelica using external C functions, but these implementations present some restrictions. The concepts required to describe message passing communication in Modelica are discussed, and a proposal to extend the language is presented. Two simple application examples are also included to illustrate the use of the proposed extensions.
离散事件建模方法,如DEVS、并行DEVS或Arena使用的面向过程的方法,支持以模块化和分层方式描述系统。在这些方法中,模型组件通过消息交换进行通信。信息是指从一个组件瞬间发送到另一个组件的信息脉冲,可以是单独的,也可以是分组或分组的。需要动态数据结构来管理消息包,无论是本地的还是作为组件的输入/输出的。这种通信方法在概念上不同于Modelica支持的物理建模方法中使用的组件之间的连接。改进Modelica以支持消息传递通信有助于DEVS模型的描述和具有类似Arena功能的库的开发。作者以前已经在Modelica中使用外部C函数实现了消息传递通信,但是这些实现存在一些限制。讨论了在Modelica中描述消息传递通信所需的概念,并提出了扩展该语言的建议。还包括两个简单的应用程序示例,以说明建议的扩展的使用。
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引用次数: 1
期刊
Proceedings of the 7th International Workshop on Equation-Based Object-Oriented Modeling Languages and Tools
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