1. 1 RealSim RealSim is Real Time Simulation for Design of Multi-Physics Systems RealSim goal: bring Modelica to industryModelica Objectives: Develop high-performance Modelica simulatorshigh-performance Develop better tools for modeling, simulation and visualization for use by industrymodelingsimulation visualization Demonstrate practical industrial applications for Modelicaindustrial applications IST Programme Contract No. IST-1999-11979

2. 2 Finding more information More information can be found in RealSim Public Reports. RealSim Public Reports D3D3 If you see text like this D3 please visit the page for public reports and find the report there. D3page for public reports For other materials please contact relevant partners

3. 3 Modelica An object-oriented, general simulation language Designed by Modelica AssociationModelica Association Libraries of reusable components Libraries Equation-based Components created using a natural mathematical language Supports differential algebraic equations Supports discrete events Permits multi-domain simulation

4. 4 Modelica libraries of ready components

5. 5 Courtesy Toyota Tecno-Service A = if not deltax>0 then 0 else Amax*(1-exp(- Ainc/Amax*deltax)) ; Example - Car Power Train Typical multi-physics system

6. 6 Dymola Modelica Libraries Robot Components Multibody Power System Components New Modelica Libraries Parallelizer OpenGL Visualization Cult3D Visualization Interactive Visualization MathematicaVisio Dym2DSP Dspace Hardware SPOT External Hardware Optimizer (in Matlab,C) AutoCAD SolidWorks CAD Translation Robot Product Model and Data Management MS SQL Server User Interface Translation Execution Visualization/ Analysis Multiple Compiled Executables New Modelica Code MathModelica Simulation Executable Project map

7. 7 Partners Dynasim(S), DLR(D), MathCore(S), PELAB(S), Kuka(D) ABB(CH) See project presentation ( D4 ) D4

8. 8 Modeling and Simulation Environments Modelica-based scripting language Modelica objects for user interaction ( P3 ) 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

9. 9 Modeling Examples Modeling of a Racing Car with Modelica’s Multi-Body Library Paper presented at Modelica 2000 Workshop in October 2000 Real-time, human-in- the-loop simulation of 3d car model, incl. wheel-suspension & tire models

10. 10 Modeling and Simulation Environment MathModelica Model Editor…

11. 11 Modeling and Simulation Environment … MathModelica Notebooks

12. 12 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 partitioning of “fast” and “slow” dynamics of the model.

13. 13 Efficient Simulation: Recent Achievements Efficient handling of large models ( D27 ) D27 100,000+ equations 4+ physical domains Handling DAE of varying structure ( D22 ) D22 Parallel scheduling of model equations Automatic fine-grained parallel scheduling of model equations on a PC cluster ( D24 ) D24 See Enhanced Dymola ( D7A, D7B,E3 ) D7AD7BE3

14. 14 Visualization and CAD integration Study of integration forms and formats D1 D1 AutoCAD to Modelica Translator D15 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

15. 15 Robot designed in AutoCAD… …translated to Modelica…

16. 16 … Robot visualized …

17. 17 …Interactive visualization…

18. 18 Internet-based visualization CLIENT Cult3D graphics in WWW browser Control (Java widgets) INTERNETServer Modelica - based simulation (see D39 ) D39

19. 19 Internet-(1)…

20. 20 …Internet-(2)

21. 21 Robot optimization Optimizing weight, speed, costs, accuracy for KUKA. Modelica library components Multibody library (freely available, see D8 ) D8 Proprietary robot components Product model and data management application Fast optimization for non- smooth problems using distributed simulation (see D19 ) D19

22. 22 Optimization Software Architecture Database Matlab GUI Internal data structure Robot component library File: robot115.exe static calculation Dymola Modelica translator File: robot115.mo

23. 23 Define which components are assembled Define how they are assembled “Assembly” of components into a robot Robot Configuration Systems

24. 24 Steering a robot Recent display by KUKA & DLR at the Hannover Fair Experience for robot applications, see D42 D42

25. 25 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 D45

26. 26 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)

27. 27 Hardware-In-The-Loop Simulation of electric locomotive: friction, inertia, electrical drive, switching, power conversion, etc. Offline Realtime RT Hardware-in-the-loop Modular Power Converter

28. 28 Complete System for Realtime Simulation

29. 29 Making people aware The Dissemination and use plan in D9 D9 Modelica www site www.modelica.orgwww.modelica.org Modelica 2000 Workshop in Lund, Sweden (as D46 ) D46 International Modelica 2002 Conference in Germany (as D46 ) D46 University Course on Modelica D47 D47 SAE Congress in Detroit, USA 2001 Hannover Fair, Germany 2001 10+ Papers, Journal articles, Conferences