integrated modeling, control synthesis and code generation ... · pdf fileintegrated modeling,...
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![Page 1: Integrated Modeling, Control Synthesis and Code Generation ... · PDF fileIntegrated Modeling, Control Synthesis and Code Generation with Modelica and Dymola Johan Åkesson Department](https://reader034.vdocuments.us/reader034/viewer/2022051507/5a78af7a7f8b9ab8768ebedc/html5/thumbnails/1.jpg)
Integrated Modeling, ControlSynthesis and Code Generation
with Modelica and Dymola
Johan ÅkessonDepartment of Automatic Control, Lund University
Hilding Elmqvist
Ulf NordströmDynasim, Lund
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Project in Automatic ControlFRT090
Johan Åkesson
Department of Automatic Control
Faculty of Engineering
Lund University
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Project in Automatic Control
• Advanced level course 7.5 ECTS units
• Course runs for seven weeks
• Team effort • Collaborative problem solving• Collaborative problem solving
• Get practical experience• Work in the lab
• Apply course knowledge• Modeling and identification
• Control design and implementation
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Project in Automatic Control2009
• 25 students• Mostly from Lund but some exchange
students
• Several disciplines• Several disciplines• Engineering physics
• Applied mathematics
• Computer sciences
• Chemical engineering
• Two groups working with Lego/Dymola• Five students in each group
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Lego with Modelica/Dymola
• Build the NXTway two-wheel robot
• Physical modeling with Modelica– Multi-body dynamics
• Model calibration• Model calibration– Experiments
– Dymola Calibration module
• Control design– Derive simple model
– Develop control scheme
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Lego with Modelica/Dymola
• Automatic generation of fixed point controller code– No C programming
– Software in the loop evaluation
• User interaction• User interaction
• Deployment on NXTway
• Animation in Dymola• Real-time animation
• Get in touch with industry– Tutorials held by Dynasim personnel
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Lego Dymola Groups
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Course plan
• w1. Form groups and planning• Tuesday March 17th – group announcement
• Friday March 20th – project plan dead line
• w2.-w3.• Tutorial
• Weekly meetings with project supervisors
• w4.-w7• Weekly meetings with project supervisors
• Presentation and demo in w7.
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Lego Dymola Tutorials
1. Introduction to Modelica (AC)
2. Multi-body modeling (Dynasim)• Wheel models (by Martin Otter)
3. Code generation with Dymola (Dynasim)• Modelica_Embedded• Modelica_Embedded
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Modelica/Dymola Modeling
Hilding Elmqvist
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MultiBody modeling
Modelica.Mechanics.MultiBody
Bodies and Joints
Automatic 3D animation
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Example – Double pendulum
1D rotational damper
World system(= Inertial system)
Rotational joint
Bodies
1D rotational flangefor drive
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Wheel Model
The MultiBody library does not contain any wheel models.
A separate library IdealWheels contains a wheel set where each wheel can be driven separately.
This is thus suitable for modeling of LEGO Mindstorms robotsMindstorms robots
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Body with two wheels
The separate model WheelSetAndBody contains a body with two wheels.
The wheels are driven by two sinusoidal torques with different frequencies.
worldz
z
ground
x
w heelSet
torque1
tau
torque2
tau
sine
freqHz=0.1
sine1
freqHz=0.15
a b
n={0,1,0}
revolute bodyBox
r={0,0,0.2}
ba
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Resulting animations
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Linearization
x
world
x
z
w heelSet
torque1
tau
torque2
tau
a b
n={0,1,0}
revolute bodyBox
r={0,0,0.2}
ba
tau1
tau2
x0
z
ground
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Linear model
Inputs
Outputs
States
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Animation with LEGO shapes
Dymola supports vizualization of shapes described by DXF, STL and VRML (subset) files.
LEGO building blocks are described in .DAT format:http://www.ldraw.org
DAT2DXF converter available:http://www.ldraw.org/Downloads-req-viewdownload-cid-6.htmlhttp://www.ldraw.org/Downloads-req-viewdownload-cid-6.html
LEGO parts are available at:http://www.ldraw.org/Downloads-req-viewdownload-cid-1.html
Electric Mindstorms NXT shape:http://www.ldraw.org/cgi-bin/ptdetail.cgi?f=parts/53788.dat
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Ldraw to DXF Converter
Download parts directories from:http://www.ldraw.org/Downloads-req-viewdownload-cid-1.html
Mindstorms parts are among the unofficial parts
See dat2dxf\readme.txt for instructions on how to organize files
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LEGO blocks resource
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Dymola animation of NXT (shape 53788)
bodyShape
r
1 ba
worldy
a b
n={0,0,1}
revolute fixedTransl...
r={0,100,0}
a b
rx
n={0,0,1}
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TutorialModelica and Dymola for System Design
Model Building and Calibration
H. ElmqvistDynasim AB, Lund
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Calibrate engine map parameter and friction
23
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Modelica_EmbeddedSystems and Code generation for Lego Mindstorms NXT
Ulf Nordström
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Contents
Overview
Modelica_EmbeddedSystems
Fixed point Code Generation
Lego Mindstorms
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Modelica_EmbeddedSystemsKey Components
Communication
Configuration
Target
Task
SubtaskSubtask
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Modelica_EmbeddedSystemsKey Components
Communication
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Modelica_EmbeddedSystemsKey Components
Configuration
Target
TaskTask
Subtask
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Modelica_EmbeddedSystemsKey Components
Configuration
Target
TaskTask
Subtask
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Modelica_EmbeddedSystemsKey Components
Configuration
Target
TaskTask
Subtask
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Use pull-down menue to select target/task/subtask”
Modelica_EmbeddedSystemsKey Components
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Modelica_EmbeddedSystems
Model In the LoopQuantization
Communication delay
Software In the LoopTask decomposition
Scenarios
Task decomposition
Effects of fixed point arithmetics
Embedded
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Modelica_EmbeddedSystems
Model In the LoopQuantization
Communication delay
Scenarios
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Modelica_EmbeddedSystems
Software In the LoopEffects of fixed point arithmetics
Scenarios
Fixed point signal
Real signal
reference
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Modelica_EmbeddedSystems
Embedded
Change target identifier to ”lego”
Will be discussed in the Lego Mindstorms section
Scenarios
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Modelica_EmbeddedSystems
Use ”extend from” to create new configurations/scenarios from the same base model
Use modifiers to change attributes
Scenarios
Right click
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Modelica_EmbeddedSystemsExample – Software In the Loop
Set Hidden.DecomposeInTasks = true
Task decompositionReference subtask
Feedback subtask
Plant subtask
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Modelica_EmbeddedSystemsExample – Software In the Loop
Task decompositionReference subtask
Feedback subtask
Plant subtask
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Modelica_EmbeddedSystemsExample – Software In the Loop
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FixedPoint Code Generation
Setup/ConfigurationMapping annotation
Restrictions
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FixedPoint Code GenerationSetup/Configuration – mapping annotation
FixedPoint variables must be annotatedmin
max
resolution
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FixedPoint Code GenerationSetup/Configuration – mapping annotation
Declaration
Q[nQ, nQ] = [integer bits, fractional bits]
Generated code
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FixedPoint Code GenerationSetup/Configuration – mapping annotation
Use parameter dialog to input annotations as modifiers
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FixedPoint Code GenerationSetup/Configuration – enable FixedPoint
FixedPoint will be enabled when the subtask belongsto a target with ”floatingpointUnit = false”
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Lego Mindstorms
Frameworkdsmodel and dymosim
dymola_wrapper in nxtOSEK
Setup/Configuration
Limitations
ExampleExample
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Lego MindstormsFramework
declarations.c
equations.c
+dymola_wrapper.c
Codegeneration
Codegeneration dsmodel.c
build
Send internal variables over bluetooth
d
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Lego MindstormsFramework – dymola_wrapper.c
Generated by Dymola
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Lego MindstormsSetup/Configuration
Configuration for Lego target and bluetoothcommunication
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Lego MindstormsSetup/Configuration
Translate and compile Dymola modelCD to ”..\nxtOSEK\samples\dymola”Press translate button in Dymola
Compile dymola_wrapper using CygwinCompile dymola_wrapper using CygwinCD to ”..\nxtOSEK\samples\dymola”Compile with ”make all”Start Lego and download executable with ”./ramboot.sh”
…
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Lego MindstormsSetup/Configuration
Starting Lego and dymosim for Bluetoothcommunication and program execution
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Lego MindstormsSetup/Configuration
Results are automatically stored in Dymola
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Thank you for you attentionand
Good Luck with your projects