Dymola - Dynamic Modeling Laboratory
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1. General Translation Output Debug Compier Realtime FMI Import Preferred type Model exchange Co simulation Options V Indude all variables E Prompt before replacing an existing Modelica model E Translate value reference to variable name E Structured declaration of variables Export Type gt Model exchange 5 Co simulation using Cvode Model exchange and Co simulation using Cvode 5 Co simulation using Dymola solvers Version 10 2 0 Options E Indude source code E Store result in mat file V Copy resources to FMU Binaries V 64 bit binaries V 32 bit binaries a Geet Preferred type can be selected as Model exchange or Co simulation This setting is only relevant if the FMU to import supports both types Otherwise this setting is silently ignored This setting corresponds to the parameter integrate in importFMU see above for description Four options are available e Include all variables corresponds to the function parameter incudeAllVariables see above FUNCTIONAL MOCK UP INTERFACE FMI SUPPORT IN DYMOLA 19 Prompt before replacing an existing Modelica model corresponds to the function parameter promptReplacement see above Translate value reference to variable name this option is not present in import FMU If ticked the imported FMU will contain a translation from value references to variable names This is useful f2. For the 64 bit version of Dymola it is required to set the flag Advanced CompileWith64 2 when compiling applications dymosim exe that contain imported 64 bit FMUs ASCII characters of values larger than 32 are supported in the xml file of the imported FMU Also UTF characters are supported but not recommended Note The binary library files from any previous import are replaced when calling importFMu and thus translations of previously imported models are not guaranteed to work any longer in the unlikely event of a name clash Commands in Dymola for FMU import An alternative to executing the import FMU function from the command line is to use the command File gt Import gt FMU FUNCTIONAL MOCK UP INTERFACE FMI SUPPORT IN DYMOLA 17 I MotorDriveTestc MotorDriveTestc Diagram a File Edit Simulation Plot Animation Commi ig New gt DYALE Pa fj Open Ctrl O pa la Load Ctrl Shift O H Libraries gt Demos i a fe Save Ctrl S Save As Save All Save Total Version Clear All Q Search Change Directory Co amp Print Ctrl P Note that this command also will be automatically applied on an fmu file by dragging it into the Dymola main window What settings will be used when using any of the above commands is specified in the import part of the FMI tab of the simulation setup reached by the command Simulate gt Setup the FMI tab a Simulation Setup
3. this is supported 1 1 4 Validating FMUs from Dymola Once the dynamic behavior of a model is verified and it is ready to be exported as FMU one would like to verify that this behavior can be repeated on the targeted simulation environment For model exchange which is dependent on the solver of the target this is FUNCTIONAL MOCK UP INTERFACE FMI SUPPORT IN DYMOLA 21 naturally less straight forward than for co simulation where the solver is built into the FMU We focus this discussion on the co simulation case although all is possible for model exchange as well Normally the FMU contains inputs that need to be connected to signal generators sources before this validation can be commenced Since this is model and test dependent and hard to automate we will assume the model inputs have been connected to necessary sources beforehand The result is a test model with no disconnected inputs After the validation these sources are of course removed before the final FMU is created Since Dymola supports FMU import it becomes natural to re import the FMU in Dymola and compare its simulation with the original model We demonstrate this for the demo model CoupledClutches For brevity we use a scripting perspective First export as FMU with say both model exchange and co simulation support translateModelFMU Modelica Mechanics Rotational Examples CoupledClutches false ne WI Wali Re import in a non interactive mode t
4. F FMI 5 configuring Simulink compiler 28 exporting models 7 for Co simulation 14 importing black box models 16 importing models 16 importing Simulink models 24 model exchange 5 specification for Co simulation 6 specification for model exchange 6 validating FMUs 21 XML model description 6 FMU 6 black box export 10 exporting FMU s with settings 10 exporting FMU s 7 exporting FMU s from Simulink 26 generate Dymola result file dsres mat 7 importing FMU s 16 importing FMUs with many inputs outputs 21 importing Simulink FMU s 24 multiple FMU s 13 online tunable parameters 6 string parameters 10 validating FMUs 21 Functional Mock up Unit See FMU importing models using FMI 16 black box models 16 Simulink models 24 31 model description XML model description for FMI 6 model exchange using FMI 5 MODELISAR 5 R Real time Workshop for FMI Simulink 27 S Simulink configuring compiler for FMI 28 exporting FMU s from Simulink 26 importing models to Dymola using FMI 24 Real time Workshop options for FMI 27 setting up environment for FMI import to Dymola 26 System Target File for FMI 27 specification FMI for Co simulation 6 FMI for model exchange 6 SUNDIALS suite of numerical solvers 14 System Target File for FMI Simulink 27 X XML model description for FMI 6 32
5. FMU import facilitates simulation of Simulink models in Dymola This package does currently not support FMI version 2 0 The project builds on the RTW S function Target configuration that is available in MATLAB In fact the same model C code is generated by the new S function target with FMI as for the RTW S function target In addition the FMI target performs the following e Constructs the model description interface modelDescription xml from the lt modelname gt rtw model description e Compiles the RTW generated model code and the S function FMI wrapper fmiModelFunctions c and links with required libraries e Constructs the FMI zip archive according to the specified structure 24 Release History e Version 1 0 February 10 2010 o First version e Version 1 1 August 20 2010 o Supporting MATLAB R2010a o Support for S function blocks written in C e Version 1 2 June 1 2012 o MATLAB support up to R2011b o Support for Visual Studio 2010 o 64 bit support e Version 1 2 1 March 4 2013 o Compliant to FMU Checker ver 1 0 2 Files The package rtwsfcnfmi zip is located in the DYMOLA mfiles directory but since it is independent of Dymola it may be extracted to any location The archive consists of four sub directories and the included files are described briefly below rtwsfenfmi bin Pre compiled 32 bit binaries of the FMI implementation for the supported Visual Studio compilers and MATLAB releases rtwsfenfmi
6. bin64 Pre compiled 64 bit binaries of the FMI implementation for the supported Visual Studio compilers and MATLAB releases rtwsfenfmi c This directory holds C source files to include and compile the RTW generated model code The standard FMI 1 0 header files fmiModelTypes h and fmiModelFunctions h are also located in this directory FUNCTIONAL MOCK UP INTERFACE FMI SUPPORT IN DYMOLA 25 rtwsfcnfmi m This directory contains MATLAB help files called from the TLC scripts These are used to construct the date GUID and value reference attributes used in the XML model description rtwsfcnfmi tlc The TLC scripts used for code generation and for constructing FMI specific files are included in this directory The template makefile and compiler dependent settings can also be found here Installation Follow these steps to set up the environment in MATLAB Define the environment variable SFCN_FMI_ROOT as the directory where you have extracted the files for example SFCN_FMI_ROOT c Program Files rtwsfcnfmi using Control Panel System Advanced Environment Variables Add the rtwsfcnfmi sub directories SFCN_FMI_ROOT m and SFCN_FMI_ROOT tc to your MATLAB path and execute the function fmiSetBin This can be done by adding the following to your MATLAB startup script addpath getenv SFCN_FMI_ROOT m addpath getenv SFCN_FMI_ROOT tlc fmiSetBin Open the m file makeDate m and modify the timediff variable to c
7. location of external resources dlls tables etc as well Handling of start values for initialization Start values can be set for FMI Model Exchange to set input start values before initialization This can be useful when wanting to avoid e g division by zero when initializing Importing FMUs with many inputs outputs When importing FMUs with many inputs outputs the input and output connectors of the imported FMU are automatically stacked at the same location one location for each type Integer Real and Boolean of input and output connectors the image to the right below testManylO fmu testManylO_fmu VYY FMI 2 0 ME Import FMI 2 0 ME Import lt The limit of the number of connectors when stacking should be applied is defined by the flag Advanced FMI OverlappingIOThreshold The default value of the flag is 10 so for creating the figure above the value was set to 4 Dragging a connection from to a stacked connector displays a dialog to conveniently select what connectors to connect See previous chapter for details FMU import on Linux The FMU import on Linux requires the Linux utility unzip If not already installed please install using your packaging manager e g apt get or see e g http www info zip org Limitations e For FMI version 1 0 the attribute nominal for scalar variables is not supported when importing FMUs with Model Exchange For FMI version 2 0
8. Dymola Dynamic Modeling Laboratory FMI Support in Dymola Contents Section FMI Support in Dymola from Chapter 6 Other Simulation Environments from the manual Dymola User Manual Volume 2 September 2014 The information in this document is subject to change without notice Copyright 1992 2014 by Dassault Syst mes AB All rights reserved Dymola is a registered trademark of Dassault Systemes AB Modelica is a registered trademark of the Modelica Association Other product or brand names are trademarks or registered trademarks of their respective holders Dassault Systemes AB Ideon Science Park SE 223 70 Lund Sweden E mail http www 3ds com support URL http www Dymola com Phone 46 46 2862500 Contents 1 FMI Support in Diy mio aise oscseicsistaccpsivesscasastessecadesceceas oe ceodseguscocveedscsatanseaacesvegsivepensouveessensecsesue D EIL FMESupport in Dymola ss e2 css e oee aa iir eRe dats r ERE AE east saben dices EERE PT EESE sang cases uns 5 1 1 1 1 1 2 1 1 3 1 1 4 1 1 5 frod O a ek otis ee eee ee ee ne Si a 5 Exporting FMUs from Dymola sses iseer ies erronee ren ep rrek rE rR Ea ETE o EEEE AKE ERE i rai 7 Importing FMUs in Dymola sines o ener ra e E RE EE T ERE A EEE EEE E rS SS 16 Validating FMUs from Dymola esseesesseesesssesseeresreerssesrrssesrenresrertssrerensententestentsseerresentrserreneseeetsse 21 Importing Simulink models using FMI sssseseessssesssee
9. FMU Co simulation CVODE solver The SUNDIALS suite of numerical solvers version 2 4 0 can be used in the co simulation FMUs The SUNDIALS CVODE solver with Backward Differentiation Formula BDF and Newton iteration can be used as solver in the exported co simulation FMUs For further details visit https computation llnl gov casc sundials main html Fixed step embedded inline solvers for FMU Co Simulation export The Dymola inline integration solvers are supported also for FMU Co Simulation export Note that the fixed step size used for the inline integration should also be used as step size when calling the fmiDoStep routine of the generated FMU For source code export it is also required to set the flag define ONLY_INCLUDE_INLINE_INTEGRATION in the header file conf h Support for optional FMI Export options Support for optional FMI Export options in FMI 2 0 The following tables list Dymola support for optional export options in FMI 2 0 Since both True and False can be a limitation the cells are color coded green means underlying feature supported in Dymola yellow means underlying feature not supported in Dymola Furthermore capital letters are used for underlying feature supported The order of the features is the order they appear in the specification 14 Optional FMI 2 0 features Model Model Co Co Co Exchange Exchange simulation sim
10. available both for FMI version 1 0 and version 2 0 Note that the FMI 2 0 Beta 4 and FMI 2 0 RCIspecifications are no longer supported For the latest information about limitations and supported features of FMI please visit www Dymola com FMI Online tunable parameters Online tunable parameters are supported in FMI version 2 0 tunable parameters were not allowed in FMI version 1 0 1 1 2 Exporting FMUs from Dymola FMU export by the built in function translateModelFMU Exporting FMU models from Dymola is achieved by the function translateModelFMU modelToOpen storeResult modelName fmiVersion fmiType includeSource The input string model ToOpen defines the model to open in the same way as the traditional translateModel command in Dymola The Boolean input storeResult is used to specify if the FMU should generate a result file dsres mat If storeResult is true the result is saved in lt model id gt mat when the FMU is imported and simulated where lt model id gt is given at FMU initialization If empty dsres is used instead This is useful when importing FMUs with parameter allVariables false since it provides a way to still obtain the result for all variables Simultaneous use of result storing and source code inclusion see below is not supported The input string modelName is used to select the FMU model identifier If the string is empty the model identifier will be the name of the model adapted to the
11. cations into one document was published on July 25 2014 The model exchange specifications focus on the model ODE interface whereas the co simulation specifications deal with models with built in solvers and coupling of simulation tools All specification documents can be downloaded here http www fmi standard org The specification documents are also available in Dymola using the command Help gt Documentation The specifications are separated into an execution part C header files and a model description part XML schema A separate model description is used in order to keep the executable footprint small Both FMI 1 0 specifications use essentially the same XML schema a couple of capability flags are introduced for FMI for Co Simulation In summary an FMU Functional Mock up Unit implementing an FMI specification consists of e The XML model description e Implementation of the C function interface in binary and or source code format e Resources such as input data e Image and documentation of the model FMI support in Dymola The Dymola FMI support consists of the two built in functions described below for FMU export and import respectively Commands are also available in the Dymola user interface to execute these functions The first three items in the list above are currently supported by Dymola FMI both Model Exchange and Co Simulation is supported for Windows and Linux Unless otherwise stated features are
12. ceable back to original model components Since RTW only generates unique variable identifiers within each variable category prefixes in out pm st bo and dw are added to the variable names The use of prefixes can be switched off see FMI XML options above Only real data types are currently supported Stateflow models and other models with discrete logic may require that you override data types with doubles Choose Fixed Point Settings or Fixed Point gt Fixed Point tool depending on MATLAB version in the Tools menu and then specify True doubles in the Data type override drop down list The code generation optimization Enable local block outputs may cause the FMU compilation to fail For these models it is necessary to switch off this optimization when generating the FMU Unsupported Simulink Blocks e The blocks Discontinuities Backlash and Discontinuities Rate Limiter currently only work correctly if used with a discrete sample time 28 e Simulink models with MATLAB Fcn blocks are not supported e Only Simulink standard blocks the LTI System block from Control Systems Toolbox and the Stateflow blocks have currently been tested FUNCTIONAL MOCK UP INTERFACE FMI SUPPORT IN DYMOLA 29 2 Index black box import using FMI 16 C Co simulation FMI for Co simulation 14 E exporting models using FMI 7 exporting models with built in numerical solvers 14
13. d includeSource true source code is included if unticked the source code is not included Note that for Co simulation source code export is currently only supported for the CVODE solver e Store result in mat file corresponds to the parameter storeResult in translateModelFMu If ticked storeResult true a result file is generated and stored as a mat file lt model id gt mat if unticked no result file is generated e Copy resources to FMU external resources using the functions ModelicaServices ExternalReferences loadResource or Modelica Utilities Files loadResource are by default copied to the FMU The resulting FMU will be larger due to this If this is not wanted de selecting the setting will not copy the resources to FMU but the resource paths using Windows shares will be changed to UNC paths when possible This makes the FMU usable within a company without increasing its size An example of using the resource copying is given below the extended example in the String parameter support section Finally the user can select whether 32 and or 64 bit FMU binaries should be generated This option is not available in translateModelFMU Note that even if the option 64 bit binaries is selected no such binaries are created unless 64 bit compilation is enabled In a 32 bit version of Dymola this can be enabled by setting the flag Advanced CompileWith64 2 FMU black box export It is possible to export FMUs as black b
14. e Make command E Dan MODELISAR work FMI Simulink rtwsfentmistlc rtwsfentmi tle Template make file rtwsfenfmi_tmf make_rtw ox Cancel ji Help ji Apply e In the Simulink Configuration Parameters dialog choose the Real time Workshop tab and click Browse to select a different System Target File Select rtwsfcnfmi tlc in the list see figure above Three FMI specific options are then available in the Real Time Workshop tab o FMI general options Build FMI binary as DLL checked as default uncheck to build the FMU as a static library Zip utility path to zip utility used to build the FMI archive default is 7 Zip Zip options command line options for the zip utility o FMI XML options Model author used to specify the model author Use prefixes on variable names used to select if variable category prefixes should be used Note Having this box unchecked may cause compilation errors due to name conflicts Include global block outputs used to select if block outputs should be included Include discrete states DWork used to select if discrete states should be included e Start the Real time Workshop build process by pressing Ctrl B The build process will compile the RTW generated model code using the FMI Simulink wrapper fmiModelFunctions c and link with the required MATLAB and system libraries to create the FMI binary The build process will also create the FMI XML model descript
15. esersersstsrreresresrsseerrssestenresrentssterresesteeesrentrsererssee 24 De i O EE E E E AA A EEA d 1 FMI Support in Dymola This document is an extract from the FMI section in Dymola User Manual Volume 2 Chapter 6 Other Simulation Environments That chapter describes how to interface models created in Dymola to other simulation environments Here only the following extract is covered e Support for the Functional Mockup Interface FMI e Import and export of FMI models in Dymola e Validating FMUs from Dymola e Export of FMI models from Matlab Simulink 1 1 FMI Support in Dymola 1 1 1 Introduction FMI The FMI Functional Mock up Interface standard allows any modeling tool to generate C code or binaries representing a dynamic system model which may then be seamlessly integrated in another modeling and simulation environment FMI started as a key development effort within the MODELISAR project see FUNCTIONAL MOCK UP INTERFACE FMI SUPPORT IN DYMOLA 5 https itea3 org project modelisar html The FMI standard is today maintained and developed as a long term project within the Modelica Association Three official FMI specifications have been released The FMI for Model Exchange specification version 1 0 was released on January 28 2010 and the FMI for Co Simulation specification version 1 0 was released on October 12 2010 FMI 2 0 which merges the model exchange and co simulation specifi
16. he FMU for co simulation importFMU Modelica_Mechanics_Rotational_Examples_CoupledClutches fmu true false false Simulate the model being the result of the import simulateModel Modelica_Mechanics_Rotational_Examples_CoupledClutches_fmu stopTime 1 5 method dassl Finally the resulting trajectories can be plotted and compared visually with the original non FMU simulation Note that since the imported model is flattened the trajectory names are somewhat different e g J1 w becomes J1_w sw iw A TOA rad s ra 22 The blue trajectory is from the reference simulation and the red is from the co simulation Note that the latter is rendered as constant between the sample points While this validation is ok for sample testing of a single model this clearly becomes infeasible for systematic validation of several trajectories The remedy is a new function validateModelAsFMU which automates the following steps e Generation of reference trajectories e Exporting of the FMU e Importing of the FMU e Mapping of trajectories names to those of the original model e Numeric comparison of trajectories e Graphical HTML presentation of deviating trajectories in fashion similar to the plot above Main features include e Using a default set of trajectories to compare or specifying it explicitly The default it the set of all state candida
17. ion modelDescription xml and construct the FMI archive lt modelname gt _sf fmu in the RTW build directory FUNCTIONAL MOCK UP INTERFACE FMI SUPPORT IN DYMOLA 27 The FMI binary is built using the same compiler as used when building the S function MEX file This is changed in MATLAB using the command gt gt mex setup Limitations and Trouble Shooting This version of the package supports 32 and 64 bit MATLAB releases from R2007b to R201 1b Supported compilers e Microsoft Visual Studio 8 0 2005 o R2007b to R2011b e Microsoft Visual Studio 9 0 2008 o R2008b to R201 1b e Microsoft Visual Studio 10 0 2010 Note Only 32 bit support o R2010b to R201 1b The package is designed and tested only for model code generated when having a variable step solver configured in Simulink However it is likely to work also with fixed step solvers assuming the tasking mode is set to SingleTasking Note that this limitation is related to the RTW generated code since no solver is embedded in the FMU The model description contains inputs outputs parameters continuous states state derivatives global block outputs and discrete states stored in S function DWork vectors Other block internal variables such as discrete modes are not included The model description currently uses the RTW identifiers as model variable names thus removing the hierarchical structure in the generated model Also in some cases these identifiers will not be tra
18. n the parameter dialog of combiTable2D select tableOnFile to true and propagate tableName and fileName Give relevant default values for them As an example looking at the resulting Modelica code when having specified a table name and file name as default value we find model MyTestModel parameter String tableName MyTableName Table name on file or in function usertab see docu parameter String fileName E MyExperiment MyTestTable mat File where matrix is stored equation a end MyTestModel Saving the model and then generating an FMU from it do not forget to set the flag above we can import this FMU and look at the resulting parameter dialog of an instance of that FMU FUNCTIONAL MOCK UP INTERFACE FMI SUPPORT IN DYMOLA 11 C myTestModel_fmu in Unnamed eax General FMI Add modifiers Component Comment Model Comment Name myTestModel_fmu Path MyTestModel_fmu Parameters combiTable2D_tableID_id tableName fileName _u1 start _u2_start combiTable2D_verboseRead tue v gt true if info message that file is loading is to be printed combiTable2D_tableOnFileRead 1 if table was successfully read from file TableName gt Table name on file or in function usertab see docu File where matrix is stored model MyTestModelz parameter String Table name on parameter String File where mat equation gt my D a end MyTes
19. ommand Simulate gt Setup the FMI tab a Simulation Setup General Translation Output Debug Compiler Realtime FMI Import Preferred type Model exchange Co simulation Options V Indude all variables E Prompt before replacing an existing Modelica model E Translate value reference to variable name E Structured declaration of variables Export Type gt Model exchange 5 Co simulation using Cvode Model exchange and Co simulation using Cvode 5 Co simulation using Dymola solvers Version 10 2 0 Options E Indude source code E Store result in mat file V Copy resources to FMU Binaries V 64 bit binaries V 32 bit binaries FMI type can be selected as Model exchange Co simulation using Cvode Model exchange and Co simulation using Cvode or Co simulation using Dymola solvers this setting corresponds to the parameter fmiType in translateModelFMU see description above of this setting for more information The FMI version can be selected as 1 or 2 the default being 1 FUNCTIONAL MOCK UP INTERFACE FMI SUPPORT IN DYMOLA 9 Three general options are available see the description above of the corresponding parameters for more information concerning the first two Note that the two first ones cannot be ticked simultaneously e Include source code corresponds to the parameter includeSource in translateModelFMu If ticke
20. on outputs a string FMUName containing the FMU model identifier on success otherwise an empty string FUNCTIONAL MOCK UP INTERFACE FMI SUPPORT IN DYMOLA 7 As an example translating the Modelica CoupledClutches demo model to an FMU with result file generation is accomplished by the function call translateModelFMU Modelica Mechanics Rotational Examples CoupledClutches true After successful translation the generated FMU with file extension fmu will be located in the current directory The user can select if 32 bit and or 64 bit FMU binaries should be generated see the FMI tab description below The generated FMU contains information about if it has been generated without export options In the corresponding XML file of such an FMU the following is seen generationTool Dymola Version 2015 64 bit 2014 02 21 requires license to execute FMUs exported from Dymola support intermediate results for event update fmiEventUpdate for Model Exchange for FMI version 1 0 Commands in Dymola for FMU export An alternative to executing the translateModelFMU function from the command line is to use the FMU option of the Translate button as illustrated below wRr amp is Normal Export The above is also available as the command Simulate gt Translate gt FMU What settings will be used when using any of the above commands is specified in the export part of the FMI tab of the simulation setup reached by the c
21. or debugging however will decrease the performance Structured declaration of variables this option is not present in importFMU If ticked the variables of the imported FMU will be presented in a hierarchical structure that is as records This is useful when e g wanting to change variable values To be able to use this option the attribute variableNamingConvention in the model description file of the FMU to be imported must be set to variableNamingConvention structured Settings of the imported FMU The parameter dialog of the imported and instantiated FMU contains an FMI tab motorDriveTest_fmu in Unnamed Lo ia General m Add modifiers _ Instance name fmi_instanceName Enable logging fmi_loggingOn Inputs for initialization fmi_pullInputsForInitialization Step time fmi_StartTime fmi_StopTime fmi_NumberOfSteps fmi_CommunicationStepSize fmi_forceShutDownAtStopTime fmi_rTol Instantiation fmi_resourceLocation Set to false when using the FMU in feedback connections relative tolerance for the internal solver of the fmu Coc info cancel The available settings depend on the FMU type fmi_resourceLocation might be needed when importing FMUs from other vendors to specify the location of external resources For FMI version 1 0 Co simulation the name is 20 fmi_fmuLocation By default the parameter displays the location where the FMU is unpacked which is usually the
22. orrespond to your time zone relative GMT The default supported compiler for 64 bit MATLAB installations is Visual Studio 8 0 Using Visual Studio 9 0 requires changing the value of FMI_VS from 8 to 9 on line 205 of SFCN_FMI_ROOT tlc rtwsfcnfmi_vcx64 tmf Creating an S function FMU This section describes the procedure to export an FMU from Simulink If the Simulink model to be exported as an FMU should be integrated connected with other components you need to add external input and or output ports to your model These can be found in the Sinks and Sources categories of the Simulink browser 26 a System target file browser sldemo_bounce System target file Description rsin tle rti1005 tle rti1006 tle rti1103 tle rtil104 tle rtil401 tlce rtwin tle rtwsfcon tle tornado tle lt grt_malloc tle grt_malloc tle rtwsfcnfmi tlc xpctarget tlc xpctargetert tlc Generic Real Time Target with dynamic memory allocation Visual C C Project Makefile only for the grt_malloc Rapid Simulation Target lt inactive gt dSPACE DS1005 Hardware Platform dSPACE DS1006 Hardware Platform lt inactive gt dSPACE DS1103 Hardware Platform lt inactive gt dSPACE DS1104 Hardware Platform lt inactive gt dSPACE DS1401 Hardware Platform Real Time Windows Target S function Target S function Target with Functional Model Interface FMI Tornado VxWorks Real Time Target xPC Target xPC Target ERT Full nam
23. ox models where only top level inputs and outputs are included in the XML model description This can be used to export sensitive models without exposing the names of parameters and internal variables This export is activated by setting the flag Advanced FMI BlackBoxModelDescription true Including settings in the exported FMU Note the possibility to include settings in the exported FMU by ticking Settings included in translated model reachable by the command Simulation gt Setup the Debug tab If such settings are included in a Dymola generated FMU they can be logged by activating fmi_loggingOn in the FMI tab of the parameter dialog of the imported and instantiated FMU String parameter support String parameters are supported in FMUs except for FMI 1 0 FMUs exported with Dymola solvers For the FMU export to support string parameters the following flag must be set Advanced AllowStringParameters true 10 The flag is by default false String variables are however presently not supported Example String parameter support can be illustrated by a simple example of changing tables for an FMU consider creating a simple model for linearization Create a model drag an instance of Modelica Blocks Tables CombiTable2D into the model Connect the two inputs and the output and create the corresponding connectors The result is u1 combiTable2D gt E gt gt gt I
24. port can be used as separate compilation of models to substantially reduce translation times For large model this is recommended since the generated mo file otherwise becomes huge and will take long time for Dymola to parse and instantiate The parameter integrate controls if integration is done centralized or in the FMU i e integrate true means import the Model Exchange part of the FMU and integrate false means use the Co Simulation part of the FMU By default this parameter is true This setting is only relevant if the FMU to import supports both types Otherwise this setting is silently ignored If the Co Simulation part is used the macro step size can be set as the parameter fmi_CommunicationStepSize in the FMI tab of the 16 parameter dialog of the imported FMU See also section Settings of the imported FMU on page 20 The parameter promptReplacement can be set to true to generate prompting before replacement of any existing Modelica model being the result of a previous import Having no prompting is useful when repeatedly importing FMUs using scripting By default this parameter is false The string parameter packageName can be set to the package to where the FMU should be imported The package must be open in Dymola when importing The function outputs true if successful false otherwise The generated Modelica file will get the name model_fmu mo_ or model_fmu_black_box mo depending on the value of includeAllVariables
25. r returned when value references are requested As a consequence some value references returned may not be present in the model description file e The result file generation is currently only fully supported for the traditional solvers Lsodar Dass Euler Rkfix2 Rkfix3 and Rkfix4 when importing the FMU in Dymola For the other solvers the number of result points stored will typically be too low However the values are accurate for the time points at which they are computed e String variables cannot be used in models which are exported as FMUs String parameters are however supported except for FMUs exported with Dymola solvers e When imported by a target simulator the generated FMU does currently not support inclusion of several instances e For Linux only the CVODE solver is currently supported for FMU Co simulation 1 1 3 Importing FMUs in Dymola The Dymola FMU import consists of 1 unzipping the fmu archive 2 transforming the XML model description into Modelica and 3 opening the resulting Modelica model in Dymola Importing FMU models to Dymola is achieved by the function importFMU fileName includeAllVariables integrate promptReplacement packageName The input string fileName is the FMU file with the fmu extension By setting the variable includeAllVariables to false only inputs outputs and parameters from the model description are included when generating the Modelica model Such black box im
26. syntax of the model identifier e g dots will be exchanged with underscores The name must only contain letters digits and underscores It must not begin with a digit The input string fmiVersion controls the FMI version 1 or 2 of the FMU The default is 1 The input string miType defines whether the model should be exported as e Model exchange fmiType me e Co simulation using Cvode fmiType cs e Both model exchange and Co simulation using Cvode fmiType al1 e Co simulation using Dymola solvers fmiType csSolver The default setting is fmiType all This parameter primarely affects modelDescription xml For the three first choices binary and source code always contains both model exchange and Co simulation Note Co simulation using Dymola solvers is currently only available on Windows and the Binary Model Export license is required For this choice the binary code only contains Co simulation the solver and tolerance that is selected in Dymola is also used by the exported FMU Please see also Notes on Co Simulation on page 13 concerning Co simulation The Boolean input includeSource is used to specify if source code should be included in the FMU The default setting is that it is not included includeSource false Simultaneous use of result storing see above and source code inclusion is not supported Note that source code generation is not supported for Co simulations using Dymola solvers The functi
27. tModel2 This FMU supports changing the table name and file name as string parameters Extended example resource handling If the FMU should contain the table as a resource the following can be done Note the used resource handling in this example is currently only supported on Windows Rename the parameter fileName to includeFilelnFMU really not needed but for clarity Use in the variable definition dialog of includeFilelnFMU in the default value input field the context command Insert Function Call to access Modelica Utilities Files loadResources and specify the file name The resulting code is given a new model MyTestModel2 is created tableName MyTableName file or in function usertab see docu includeFileInFMU Modelica Utilities Files loadResource E MyExperiment MyTestTable mat rix is stored 12 Save the model Before generating the FMU check e that Advanced AllowStringParameters true e that Copy resources to FMU is ticked in the FMI tab of the simulation setup We can import the generated FMU and look at the resulting parameter dialog of an instance of that FMU S myTestModel2_fmu in Unnamed a General Fmi Addmodifiers Component Name myTestModel2_fmu Comment Model Path MyTestModel2_fmu Comment Parameters combiTable2D_verboseRead combiTable2D_tableID_id combiTable2D_tableOnFileRead tableName _u1_start _u2_start Icon
28. tes e Choosing tolerance for the comparison e Optional generation of reference trajectories which is typically only needed once e Optional FMU export which might not be needed each time e Test of co simulation or model exchange e Test of FMI version 1 0 or 2 0 It is available in Modelica Library under the Dymola installation Note that the ModelManagement license is needed to use this feature Below call validates CoupledClutches as a co simulation FMU for FMI 1 0 validateModelAsFMU Modelica Mechanics Rotational Examples CoupledClutches An excerpt from the log file is given below FUNCTIONAL MOCK UP INTERFACE FMI SUPPORT IN DYMOLA 23 Important Variable Jl w has scalar criteria 0 00248651 larger than tolerance 0 001 Signal outside validity range Reference Simulated 10 8 w T Z 6 4 2 0 0 0 4 0 8 1 2 1 6 In this case we may argue that the comparison tolerance should be increased to avoid the report of this trajectory 1 1 5 Importing Simulink models using FMI Introduction The Dymola 2013 and later distributions include a package to support export of FMUs from MATLAB Simulink This package contains an implementation of the FMI 1 0 model exchange specification on top of model code generated by Real Time Workshop RTW The MATLAB Target Language Compiler TLC is used to construct the XML model description This package for Simulink FMU export together with the Dymola support for
29. ulaton simulation with inline using with inline using integration Cvode integration Dymola solvers needsExecutionTool completedIntegratorStepNotNeeded canBelnstantiatedOnlyOncePerProcess canNotUseMemoryManagementFunctions canGetAndSetFMUState canSerializeFMUState providesDirectionalDerivative canHandle VariableCommunicationStepSize canInterpolateInputs maxOutputDerivativeOrder canRunAsynchronuously Support for optional FMI Export options in FMI 1 0 Optional FMI 1 0 Co simulation features Co Co Co simulation simulation simulation using with inline using Cvode integration Dymola solvers canHandle VariableCommunicationStepSize canHandleEvents canRejectSteps canInterpolateInputs maxOutputDerivativeOrder canRunAsynchronuously canSignalEvents canBelnstantiatedOnlyOncePerProcess canNotUseMemoryManagementFunctions FUNCTIONAL MOCK UP INTERFACE FMI SUPPORT IN DYMOLA 15 FMU export on Linux The FMU export on Linux requires the Linux utility zip If not already installed please install using your packaging manager e g apt get or see e g http www info zip org Export of 32 bit and 64 bit FMUs is supported on Linux Using Dymola compilers for FMI Co simulation export is not supported on Linux Limitations e The value meUndefinedValueReference is neve
30. ur D gt vje true if info message that file is loading is to be printed 1 if table was successfully read from file r Table name on file or in function usertab see docu The includeFilelnFMU parameter is not displayed it is evaluated and the corresponding file has been copied to the Resources directory of the FMU Handling multiple FMUs In Dymola 2014 and later an extra source code file all c is provided it includes all other C files This file is needed to compile all FMUs source code as one unit which in turn is required because the demand that all internal functions and symbols needs to be static to be able to combine several source code FMUs The only disadvantage compiling this file instead of the separate C files is that any modification in any source code file requires re compilation of everything Notes on Co Simulation Note that all Dymola solvers are supported on Windows for FMU Co simulation export if the Binary Model Export license is available however the CVODE solver can be selected FUNCTIONAL MOCK UP INTERFACE FMI SUPPORT IN DYMOLA 13 as a particular solver The support for features is currently larger when selecting CVODE as a particular solver than for Dymola solvers e Including source code is currently only supported for the CVODE solver e String parameters are currently only supported for the CVODE solver e For Linux only the CVODE solver is currently supported for
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