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RealSim

RealSim is Real Time Simulation forDesign of Multi-Physics Systems

RealSim goal: bring Modelica to industryObjectives:

Develop high-performance Modelica simulators

Develop better tools for modeling, simulation and visualization for use by industry

Demonstrate practical industrial applications for Modelica

IST Programme

Contract No. IST-1999-11979

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Finding more information

More information can be found in RealSim Public Reports.

If you see text like this D3 D3 please visit the page for public reports and find the report there.

For other materials please contact relevant partners

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Modelica An object-oriented, general simulation language Designed by Modelica Association Libraries of reusable components Equation-based Components created using a natural mathematical

language Supports differential algebraic equations Supports discrete events Permits multi-domain simulation

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Modelica libraries of ready components

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Example - Car Power Train Typical multi-physics system

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Dym

olaModelica

Libraries

RobotComponents

Multibody

Power SystemComponentsN

ew

Modelic

a

Libra

ries

Parallelizer

OpenGLVisualization

Cult3DVisualization

Interactive Visualization

MathematicaVisio

Dym2DSP

DspaceHardware

SPOT

ExternalHardware

Optimizer(in Matlab,C)

AutoCAD

SolidWorks

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and DataManagement

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Project map

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Partners

Dynasim(S), DLR(D), MathCore(S), PELAB(S), Kuka(D) ABB(CH)See project

presentation (D4)

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Modeling and Simulation Environments

Modelica-based scripting language Modelica objects for user interaction (P3) Interface of Modelica to LAPACK Multi-criteria optimization environment MathModelica simulation environment

• Integration with Mathematica,Graphic GUI based on Microsoft Visio

• Integration with CAD tools and 3D visualization

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Modeling Examples Modeling of a Racing Car with

Modelica’s Multi-Body Library• Paper presented at

Modelica 2000 Workshopin October 2000

• Real-time, human-in-the-loop simulation of3d car model, incl.wheel-suspension &tire models

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Modeling and Simulation Environment

MathModelica Model Editor…

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Modeling and Simulation Environment

… MathModelica Notebooks

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Efficient Simulation: Recent Achievements

Modelica simulations should be made more efficient

Mixed-mode Integration: Real-time (interactive) performance for complex multi-physics systems• Mixed-mode integration

method for simulating“stiff” models.

• Automatic partitioningof “fast” and “slow”dynamics of the model.

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Efficient Simulation: Recent Achievements

Efficient handling of large models (D27)• 100,000+ equations• 4+ physical domains

Handling DAE of varying structure (D22)

Parallel scheduling of model equations• Automatic fine-grained parallel scheduling

of model equations on a PC cluster (D24) See Enhanced Dymola (D7A, D7B,E3)

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Visualization and CAD integration

Study of integration forms and formats D1

AutoCAD to Modelica Translator D15• Exports Modelica code + STL for

additional geometry information (for use by visualization components)

OpenGL-based interactive visualization of Modelica models

Live simulation controlled via Internet

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Robot designed in AutoCAD…

…translated to Modelica…

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… Robot visualized …

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…Interactive visualization…

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Internet-based visualization

CLIENT

Cult3D graphicsin WWW browser

Control(Java widgets)

INTERNET Server

Modelica - based

simulation

(see D39)

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Internet-(1)…

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…Internet-(2)

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Robot optimization Optimizing weight, speed, costs,

accuracy for KUKA. Modelica library components

• Multibody library (freely available, see D8)

• Proprietary robot components Product model and data

management application Fast optimization for non-

smooth problems using distributed simulation (see D19 )

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Optimization Software Architecture

Database

Matlab GUI

Internal data structure

Robot component library

File: robot115.exe

static calculation

Dymola Modelica translatorFile:

robot115.mo

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Define which components are assembledDefine how they are assembled

“Assembly” of components into a robot

Robot Configuration Systems

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Steering a robot Recent display by KUKA & DLR at the

Hannover Fair

Experience for robot applications, see D42

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Power system simulation

Dynamic, object oriented Simulator of Power System Transients (SPOT) at ABB• On-line and off-line simulation of

power systems• Scalable, cost efficient – basic

version runs on a PC Experience with RealSim

described in D45

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Modeling software for Power Systems

Dym2DSP, software for automatic exporting of compiled simulations from Dymola to DSpace hardware

Complete power system component Modelica library• Basic Elements and Transformations,

Turbines, Generators, Transformers, Transmission Lines, Impedance, Admittance and Loads, Motors and Drives, Converters, Inverters, Rectifiers, Breakers, Faults, Meters and Sensors, Non-linear Elements (Semiconductors, Varistors)

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Hardware-In-The-Loop Simulation of electric locomotive:

friction, inertia, electrical drive, switching, powerconversion, etc.• Offline• Realtime• RT Hardware-in-the-loop

Modular Power Converter

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Complete System for Realtime Simulation

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Making people aware The Dissemination and use plan in D9 Modelica www site www.modelica.org Modelica 2000 Workshop in Lund, Sweden

(as D46) International Modelica 2002 Conference in

Germany (as D46) University Course on Modelica D47 SAE Congress in Detroit, USA 2001 Hannover Fair, Germany 2001 10+ Papers, Journal articles, Conferences