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1. Tess DYNAware Importing Models from Physical Modeling ECO Mode Tools Using the FMI Standard www tesis dynaware com oe DYNAware Overview The objective of this tutorial is to demonstrate the workflow for the integration of FMUs in DYNA4 The following use case is explained e The user has a simulation model from a physical modeling software tool such as Dymola AMESim or SimulationX that supports the tool independent Functional Mock up Interface FMI standard e This model for example a complete drivetrain combustion engine or electric motor is to be integrated as a Functional Mock up Unit FMU in the overall model architecture that is a Simulink model with full DYNA4 integration e The model architecture shown in the tutorial is the one used by DYNA4 models however the process works equally well with totally different user specific model architectures e The FMI Toolbox for MATLAB from Modelon http www modelon com products fmi toolbox for matlab is used as the interface to Simulink Using DLL binaries for FMUs the simulation modes Normal and Accelerator can be used in Simulink e The simulation may be conducted as a co simulation or the imported model may be simulated using the Simulink solver Tutorial contents e Exporting Physical Models as FMUs Describes the process of exporting FMUs from a physical modeling tool e Importing FMUs into Simulink Addresses the necessary setup steps for integr
2. Outputs Category Variability Fixed Parameters Both Both Flat view 7 Tree view feo ginertiaMotor J P halfshatt 7 JP clutch me pos l 1 gt P clutch mue_pos l 2 FP clutch peak clutch cqeo i En max Jp clutch w small JE inertiaClutchout J P driveshaft J JE differential ratio FP springDbamper c P springDamper d phi_ rela Description Moment of inertia Value inertiaMotor Jv kg me blin tha 0 Po FOF FE S08 Type Real Figure FMU Edit Mask Model Data Adwanced Sao Reload FM inertiaMotor J v halfshatt J v 0 5 l 1 clutch fn max w loooooooood inertiaClutchdut_J driveshaft J differential ratio angi 1000 0 1 Reset Value Reset All Values 4 For each FMU parameter you want to change in DYNA4 Enter the corresponding DYNA4 parameter name in the Value field in the FMU edit mask and press Set Value Notes e It is important to add a v suffix to the DYNA4 parameter name as this specifies the used parameter value structure element see Figure FMU edit mask 5 Close the FMU edit mask 6 Save the DYNA4 module library From now on the selected DYNA4 module parameters are automatically assigned to the corresponding FMU parameters during the DYNA4 apply procedure TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact 20 Copyright 2014 TESIS DYNAware All bra
3. trademarks and registered trademarks are the property of their holders Importing FMU Components into Simulation Models The objective of this tutorial step is to show how to import FMU components into simulation models in DYNA4 The following topics are addressed e Import newly created FMU component into the DYNA4 framework e Create a module parameter file Proceed as explained in the following 1 Asa final step import the newly created FMU component from the DYNAdatabase into the actual simulation model see figure Replace FMU components dialog For details refer to Replacing Model Components in the DYNA4 User Manual eg Replace Model Components i Ioj x Replace Model Components Replace existing components in the simulation model by a component model of the same group Component Model der i ees Animation PassengerLar4nimatian a ControlUnits BasicControlUnit Traffic MoTraffic ae ea Trailer Trailer ES Vehicle Vehicle HE iaa Je Gusiliaries Regular Auxiliaries joel I E 1 Lite I Pam ia H vailable component models Basic AntiLockBrakeContralUnit Select BasicContralUnit BatteryElectricvehicleContralunit DualModeHybridContralunit FullParallelHybrid ontrollnit MicroHybridContralUnit MildP ar allelHy bridControlUnit TrafficControluinit_ 40Cbjecks TrafficControluinit_ Objects Q cn Figure Replace FMU components dialog 2 Create a mod
4. GUI when one double clicks on the desired mfile Upon saving the mfile the parameters for the FMU will be applied to the MATLAB workspace in the MDL structure The use of the DYNA4 parameter file is optional and depending on the desired data apply method used the parameter file may be empty The options regarding data apply are discussed in more detail in Applying Data to FMU Blocks TESIS DYNAware GmbH Baierbrunner Str 15 81879 Muenchen Germany http www tesis dynaware com contact 17 Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders Working with FMUs in DYNA4 The objective of this tutorial step is to show how to work with FMUs in the DYNA4 simulation framework after the import steps have been executed successfully The following topics are addressed e Applying Data to FMU Blocks Depicts options for applying data to the FMU block e Tracing Signals of FMU Blocks Describes options for tracing signals from the FMU block e Simulating with FMU Blocks Shows tips regarding the simulation of FMUs in the Simulink environment using DYNA4 TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact 18 Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders DYNAware Applying Data to FMU Blocks The objective of this tutorial step is to show how to apply data
5. as an actuator for the engine torque and a speed sensor block for the engine speed The output torque acting on the wheel shafts output signal torque_to_wheel is sent to the component wheel system of the DYNA4 simulation model which will return the wheel s rotational angle speed and acceleration input signal wheel_rotationangle_speed_acc In this example the motion of all driven wheels is combined in one wheel TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact 2 Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders DYNAware Normally the Dymola model would work differently to solve the differential equations but the use of the move block forces the system to use the input signal wheel_rotationangle_speed_acc as the rotational motion of the wheel If for example the wheel system model was also included within the system boundary of the Dymola model the interface signals woud be different It is advisable to choose the system boundaries with consideration of the resulting mathematical constraints 2 Export the simulation model as an FMU by using the FMI export functionality of your physical simulation tool In Dymola the options for the FMI export can be found in the Simulation Setup GUI see figure FMI export GUI in Dymola General Translation Output Debug Compiler Realtime FMI Import Preferred
6. can now edit the module and its mask parameters in Simulink _ Do not click the Next or Finish button until you i are finished making modifications in the Simulink model Show Simulink Window Finish Figure Perform Changes in Simulink page TESIS DYNAware GmbH Baierbrunner Str 15 81879 Muenchen Germany http www tesis dynaware com contact Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders DYNAware Click on Finish without adding any parameters see figure Edit Module Parameters page aoe KIOL EPI OPENI l za Edit Module Parameters Edit parameter information for the module parameters This information ts required to correctly display and assign the parameter values via the DYNA framework Name TDLib td_str_fmu Module parameters Parameter details Name examplePar Data type Value unit 5 Range settings Enable vRange Inf Figure Edit Module Parameters page Now the wizard has created an empty module and a folder in the DYNAdatabase TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http Awww tesis dynaware com contact Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders DYNAware 2 Add the fmu file to the user defined module library directory see figure User defined module library directory Ensure that
7. information on how to integrate user functions into the DYNA4 task concept please refer to Us ing a Function Node in the DYNA4 User Manual TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact 21 Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders Simulating with FMU Blocks Some general notes regarding simulation with the FMU block and DYNA4 e FMI provides a standardized format which allows the easy transfer of models between tools It should however be considered that numerical problems can arise if this integration is not done in the most appropriate manner This applies of course generally for the simulation of FMUs in Simulink and is not limited specifically to DYNA4 models e Most DYNA4 models are currently restricted to operate with the ODE1 Solver in Simulink Therefore use of the FMU block for Model Exchange FMU ME is restricted to this solver which means that no variable step size solver or higher order solvers are supported e The use of the ODE1 solver may not be an appropriate choice for some complex physical models It may be necessary to use a very small step size in order to achieve good results at the cost of performance e Using the FMU block for Co simulation FMU CS removes this restriction on the solver type for the FMU When exported in the CS format the FMU will use its own solver which is to
8. their holders DYNAware Creating User Defined Modules Including FMU Blocks The objective of this tutorial step is to show how to create a user defined module including FMU blocks The following topics are addressed e Create a new module in the user defined library in DYNA4 e Add an FMU block to this module e Define block mask parameters for this module Proceed as explained in the following 1 Create a new user defined module using the Manage Modules wizard see figure Manage Modules page For detailed information on this topic refer to Creating a New User Defined Module in the DYNA4 User Manual Manage Modules Create edit or delete user defined modules The Simulink libraries containing the user defined modules will be stored in the D NAdatabase Create a new module td_strfmu Library module name TDLib Use template C Edit an existing module O Delete an existing module z M yLi orar y FM LI a STR_FMU Figure Manage Modules page TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders DYNAware Click on the Next button without making any changes in Simulink we will perform these later see figure Perform Changes in Simulink page I me F A Jj 1 k I i IE I g H Lii ihe Se E a B i Perform Changes in Simulink You
9. there are no other copies of the fmu file on the MATLAB workspace a or dJi martin DYNA4 DYNAdatabase Models UserDefinedModules TDLib gt I TOLib durchsuchen Datei Bearbeiten Ansicht Extros 2 Organisieren Offmen Brennen Neuer Ordner f J DYNA Name Anderungsdatum Typ J DYNAdatabase dJi AnimationDatabase J ControlUnitsDatabase Ji EnvironmentDatabase Ji Functions a ModelConfigurations J ModelData J ModelRepository J Models J Components UserDefinedModules d TDLib J td_str fmu 4 L td str fmu 31 01 2013 16 10 Dateiordner Carfmu gt TDLib mdi 31 01 2013 16 10 Simulink Model Car fmu nderungsdatum 15 01 2013 09 59 Erstelldatum 31 01 2013 16 10 FMU Datei Gr e 69 4 KB Figure User defined module library directory Add the FMU block to the user defined module library and define the Simulink block mask parameters see figure Mask editor and edit module parameters page Therefore switch back to the Manage Modules wizard and follow the instructions in Editing a User Defined Modul for further information about Editing a User Defined Module see the DYNA4 User Manual and Importing FMUs into Simulink These parameters will then be recognized by the DYNA4 GUI and a corresponding data file template will be created oF aum yon eens F ror con amp Ports Parameters Initialization Documentation Dialog parameters Prompt Variab
10. to FMU blocks Following topics are covered e How to assign DYNA4 module parameters to FMU block parameters Notes on general FMI Toolbox restrictions e Any tables used as parameters in the FMI model must be of a fixed size e g the parameters may vary but the table dimensions must remain constant Once the FMU is part of the active simulation model it is possible to assign DYNA4 parameters to the the corresponding FMU parameters Proceed as explained in the following 1 Open the DYNA4 module library in Simulink 2 Select View Mask in the module and go to the DYNA4 Module Parameters pane There you can see all available DYNA4 parameters for this module Dialog parameters Variable Type Evaluate Tunable DATA MODE edit inertiaMotor J kg m3 inertiaMotor alfshaft kg m2 clutch fn_max N riveshaft kg m2 everse Gear Ratio orward Gear Ratios wdGearRatio Options for selected parameter In dialog Enable parameter show parameter Dialog callback Figure DYNA4 Module Parameters TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact 19 Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders DYNAware 3 Open the FMU Edit Mask double click on the FMU block and go to the Parameters amp start values pane EJ SimpleDriweTrain_DYNA4FMIntegration Dermo Parameters amp start values
11. ating FMUs into Simulink using the FMI Toolbox for MATLAB from Modelon e Importing FMUs into DYNA4 Depicts the required steps to integrate FMUs into a functional DYNA4 simulation model based on Simulink e Working with FMUs in DYNA4 Describes options for passing data to FMUs tracing signals and simulating FMUs using Simulink and DYNA4 FMI Toolbox compatibility e Restrictions regarding the supported physical modeling tools that can be used for exporting FMUs can be found on the Modelon documentation http www modelon com products fmi toolbox for matlab supported tools e All MATLAB versions from R2007b onwards are supported by the FMI Toolbox for MATLAB The User s Guide provides further information as to which versions have been tested http www modelon com fileadmin user_upload Products Modelon FMIT FMIT 1_7 UsersGuide pdf e Version 1 7 of the Modelon FMI Toolbox for MATLAB has been tested with DYNA4 All information provided in this tutorial is related to this version of the toolbox TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders Exporting Physical Models as FMUs The objective of this tutorial step is to show how to export models from physical simulation environments as FMUs The following topics are addressed e Adjust the simulation model int
12. be defined when the FMU is exported e Simulating with an FMU model that has been exported in the CS Format requires that the host computer has access to a license from the exporting tool e Using the FMI Toolbox for Matlab from Modelon and only providing DLL binaries for the FMU only the simulation modes Normal and Accelerator can be used in Simulink TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact 22 Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders
13. erface e Export the simulation model as an FMU Proceed as explained in the following 1 Adjust the interface ports of your existing simulation model from a physical modeling tool This must be done ina signal based way so that the model can be exported as an FMU This means input and output signals will be required to define this interface and it may be necessary to install sensors in order to measure certain model states and actuators in order to apply physical properties to the model Here we look at the example of a Dymola drivetrain model that we want to use as a new simulation component in our DYNA4 simulation model based on Simulink see figure Drivetrain model in Dymola engineSpeedSensor engine_speed clutch_position clutchOutputSpeeds gear_ratio firstOrder clutch_output_speed T 0 05 engine_torque ea D torqueFromMotor inertiaMotor inertiaClutchOut pa driveshaft l halfshat drivetrainElasticity IN pi IN pi E7 i _ore_ IN pi oami oami Da tau Rall au 1mm ratio ae 1m rati 3 1m J 0 2 clutch J 0 05 J 0 1 J 0 05 wheel_rotationangle_speed_acc move l phiwa torque_to_wheel Figure Drivetrain model in Dymola The component engine of the DYNA4 simulation model should supply the engine torque input signal engine_torque and needs to receive the engine speed signal output signal engine_speed from the Dymola drivetrain model This is achieved by using a torque source block
14. f parameters in FMI Toolbox GUI e g InertiaMotor J This format also assists the user to quickly identify from the DYNA4 GUI exactly where each parameter is being applied in the model Ey simipleOrive Train _O AA4F Minte grationDerna Parameters amp start values Outputs Model Data Advanced Load FMU Categor ariabilit Fixed seins i Reset All Both Both Both Flat view 7 Tree view Reload FMU JE a P inertiaMotor J inertiaMotor stateselect W inertiaMotor phi of move useSupport _hove phi support C torqueFromMotor useSupport i C torqueFromMotor phi support JE halfshaft J halfshaft stateselect of engineSpeedSensor flange tau A clutch phi rel VW oclutch w rel Z clutch phi nominal clutch statesSelect i P oclutch mue pos l 1 Description Moment of inertia 10 O 2 default 0 False 0 False 0 0 05 default 0 0 0 0 0001 prefer 0 Value 0 2 kg me Set Value Reset Value Mlin f hte i 4 7977E 308 Type Real Reset All Values Figure Flat view of parameters in FMI Toolbox GUI Further settings that can be made in the Edit Module Parameters GUI see right window in figure Mask editor and edit module parameters page are Set default value Will create a default value that will be used whenever a new parameter file is created Range settings These should be used to ensure that only feasible parameters can be a
15. le Type i Evalul n E DATA NODE A Edit Module Parameters 7 e 5 a x EaR parameter eicemation fer the module parameters Ths informadon i required to VehicleMass ikg jmass edit ow Go rrectly display and assign the parameter values vie the DYNAS framework 2 Frontdase cog dist m i rar Reashxle_ cog dist m lr Ledit lw Nime TOLib td str fenu zo peco da 2 Inertia kg m2 iz Cr a Modtopmanstes Parameter tl Frontiade comenng stiffness C edt o wr Rearfude conering stiffness Cr Ledit ew ame Date type Value Dmass ary C ro Siz nc oC Options for selected parameter 1 In dialog f Enable parameter Dialog callback Figure Mask Editor and Manage Module Parameters page TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http Awww tesis dynaware com contact 10 Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders DYNAware In order to use the parameter apply solution described in Applying Data to FMU Blocks the following convention should be used in the DYNA4 Edit Module Parameters GUI see right window in figure Mask Editor and Manage Module Parameters page Parameter Name May not contain the character The _ character is suggested e g InertiaMotor_J Comment Exact case sensitive name of the parameter as shown in the flat view of the FMI Toolbox GUI see figure Flat view o
16. name automatically fia offset Find FMU file on Model load C Relative path to Model directory O Absolute path Figure FMU Advanced tab Result File The Modelon Toolbox has the ability to create a report file of all internal states as a text document The toolbox also provides MATLAB scripts which can be used to comfortably read this information into the MATLAB workspace for postprocessing or plotting This feature is discussed in more detail in Tracing Signals of FMU Blocks Tolerances FMU ME block only Check that the tolerance control is turned off The Simulink tolerance control is only relevant for simulink solvers with variable step size and therefore is for DYNA4 Models which operate with ODE1 not to be used Sample times FMU CS block only Sampling interval and Sampling offset need to be defined here since the FMU has its own solver Find FMU file on Model load For an easily interchangeable FMU block the selection File name search is recommended TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact 14 Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders DYNAware Creating DYNA4 Components Including FMU Modules The objective of this tutorial step is to show how to create a DYNA4 component from a user defined FMU module The following topics are addressed e Create anew DYNA4 component e I
17. nds trademarks and registered trademarks are the property of their holders Tracing Signals of FMU Blocks The objective of this tutorial step is to show different options how to trace signals of an FMU block in DYNA4 The following topics are addressed e Using the DYNA4 trace mechanism e Using the FMI Toolbox report generation function DYNA4 trace mechanism It is possible to record individual signals or complete Simulink buses using the DYNA4 Trace mechanism For further details please refer to Recording a User Defined Simulink Signal and Recording a complete Simulink Bus in the DYNA4 User Manual This workflow requires that all desired signals are defined as outputs from the FMU block For further details on how to specify additional outputs for the FMU block please refer to http www modelon com fileadmin user_upload Products Modelon FMIT FMIT 1_7 UsersGuide pdf Trace functionality of the FMI Toolbox for MATLAB The alternative is to use the trace functionality of the FMI Toolbox which traces the internal signals in the FMU and creates a seperate result file The result file can then be processed using MATLAB functions from the Modelon FMI Toolbox For further details please refer to http www modelon com fileadmin user_upload Products Modelon FMIT FMIT 1_7 UsersGuide pdf It is also possible to integrate these results into a DYNA4 postprocessing function and combine them with the trace results provided by DYNA4 Fur further
18. ntegrate the user defined FMU module into this component Proceed as explained in the following 1 Once the user defined module has been defined the next step is to create a new component This allows the new component to be directly imported into a simulation model See Creating a New User Defined Component Model in the DYNA4 User Manual for more details on how to create a DYNA4 component in general 2 Integrate the user defined FMU module into the new component see figure Add FMU Modules page and directly connect it to the rest of your simulation model in Simulink Add Modules Drag and drop the modules to be added to the component model You can select single modules or entire groups Component name TD_Chassis_FMU_test2 Available Modules b fa PipeModules b ia ReducedChassisModules b a ReducedTireModules b fa RoadModules ts TDLib gt fi TireModules gt fs TrafficModules b i TrafficSensorModules gt 8 TransmissionControlModules gt ii TurbochargerModules b fi VehicleDynamicsControlModules fi WheelSystemModules Figure Add FMU Modules page Notes e Ignore the following message should it appear fou must Reload the FMU Modules to be added ge td_str fmu Error Failed load the FMU model See the Command window for more details TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact 15 Copyright 2014 TESIS DYNAware All brands
19. o Tracing Signals of FMU Blocks Advanced The Advanced tab provides the opportunity to set various different options see figure FMU Advanced tab lt p alrripleOrive Train _DYNA4FMIntegrationD erma Parameters amp start walues Outputs Model Data Adwanced Load Fhill E a aaa SsSS S _ a Reset All E Write simulation result to file Reload FML Icon Use icon in FMU if there is any Dip set general log level parse ML load DLL Tolerances Use Simulink s relative tolerance Relative tolerance 0 001 Reload Fh E Add new output ports when the model is reloaded F Update block name automatically Find FMU file on Model load 0 Relative path to Model directory O Absolute path File name search TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact 13 Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders DYNAware lt p almipleOrive Train _DYNA4FMIntegrationDerma Parameters amp start walues Outputs Model Data Adwanced Load Fhill Resut Ae ees a E Write simulation result to file Reload FMi Icon Use icon in FMU if there is any Set block icon Logger Set general log level parse AML load DLL Sample times Sampling interval Reload Feu F Add new output porta when the model is reloaded F Update block
20. pplied TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders DYNAware Notes e The DYNA4 Manage Modules wizard automatically creates a set of functions specific to the user defined module which are called by the DYNA4 framework when certain events occur When not required they can be left blank For further details please refer to Creating a New User Defined Module in the DYNA4 User Manual TESIS DYNAware GmbH Baierbrunner Str 15 81879 Muenchen Germany http www tesis dynaware com contact 12 Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders DYNAware Adjusting Settings of FMU Blocks in User Defined Modules The objective of this tutorial step is to give a short overview of the main settings that can be adjusted in the FMI Toolbox GUI The following settings are addressed e Parameters and start values e Outputs e Advanced settings for FMU ME and FMU CS Parameters and start values The default parameters and start values can be defined directly here Outputs It is possible to select any constants or internal variables from the fmu from the GUI and define these as output ports This is necessary if they are to be traced using the DYNA4 trace mechanism For further details refer t
21. such that the FMI blockset libraries are available Follow the installation instructions found on the Modelon website http www modelon com fileadmin user_upload Products Modelon FMIT FMIT 1_7 UsersGuide pdf 2 After installing and setup is complete the FMI Toolbox should appear in the Simulink Library Browser see figure FMI Toolbox in Simulink Library Browser i Simulink Library Browser File Edt Vievw Help Enter search term Libraries H SINKS fan SOUFCES FMU CS 1 0 i User Defined Functions oe Additional Math amp Discrete il Control System Toolbox El DYNAanimation Blockset Si 1 fel Real Time Workshop il Report Generator Simulink 3D Animation lal Simulink Control Design H Simulink Extras Simulink Verification and alidation m E Stateflow FRIW ME 1 0 Block Description FMLFMU CS 1 0 Figure FMI Toolbox in Simulink Library Browser 3 Once this is available the block can be used in any Simulink model Drag and drop a copy of the required block into a blank Simulink model see figure FMU block in Simulink Either choose the block FMU ME for Model Exchange or FMU CS for Co simulation TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact 4 Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http A
22. t into four main parts 1 Create a user defined module including FMU blocks This module will be saved in the DYNAdatabase in a user defined module library In this way it can be used in any component model in DYNA4 2 Adjust settings of FMU blocks in user defined modules 3 Create a DYNA4 component including FMU modules This component will be saved in the DYNAdatabase as a reference DYNA4 component This allows the user to import and use the component in any simulation project and any simulation model using the DYNA4 Replacing Model Components for further information see Replacing Model Components in the DYNA4 User Manual functionality 4 Import an FMU component into a simulation model The final step is to import the reference component model from the DYNAdatabase into the desired simulation model Notes e Options regarding the methods of Applying Data to FMU Blocks tips regarding Tracing Signals of FMU Blocks and Simulating with FMU Blocks are discussed in the chapter Working with FMUs in DYNA4 e Before attempting to import an FMU block it is helpful to have some understanding of the processes as described in the references as they are very similar for importing a standard Simulink model without the FMU module TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact 6 Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of
23. type f Model exchange f Co simulation Options I Include all variables Prompt before replacing an existing Modelica model Export Type f Model exchange f Co simnulation fe All Version f 1 0 cf 2 0 Options Tl Include source code Store result in mat file Store in Model Cancel Figure FMI export GUI in Dymola There are three settings to be done Select a Type select an FMI Version and select some further Options As Type either Model exchange FMI ME or Co simulation FMI CS can be selected Model exchange exports the model without solver and Co simulation exports an encapsulated model and solver As Version select 1 0 to ensure compatability with V1 7 of the Modelon FMI Toolbox For the Options it is not necessary to include the source code or store result in mat file TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact 3 Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders Importing FMUs into Simulink The objective of this tutorial step is to show how to integrate an FMU into Simulink using the FMI Toolbox for MATLAB from Modelon The following topics are addressed e Install the FMI Toolbox for MATLAB from Modelon e Access the FMU block in Simulink Proceed as explained in the following 1 Install the FMI Toolbox for MATLAB from Modelon and configure the MATLAB installation
24. ule parameter file Now that the FMU component and the corresponding user defined FMU module are included in the active simulation model the data can be applied directly from the DYNA4 framework into the MATLAB workspace TESIS DYNAware GmbH Baierbrunner Str 15 81379 Muenchen Germany http www tesis dynaware com contact 16 Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders DYNAware Once the FMU component has been selected a parameter file can be created and loaded into the active data set If the module is new there will be no existing data file a new one can be created see figure Create new module parameter file a2 DAE EIE woe E x E t Animation Defaultassembly t Control Units BasicControlUnitassembly Vehicle SingleTrack assembly Module Name Parameter File DriverlnformationVehicle ConventionalVehicle_S _TC_MPLL t Auxiliaries RegularAunilianies 14V assembly Brake System SedanBrakeSystem assembly Chassis TD_Chassis_fmu assembly Module Name Parameter File SingleTrack TESIScar m td_str_fmu none I i New Module Parameter File Load t Drivetrain LossFreeFourWheelDrivetrain Edit b Electrical System Electricalsystem14V a Help i a n E a n ee ee ee ee ee ee en a Figure Create new module parameter file The parameters for the model can be entered via the
25. www tesis dynaware com contact DY NAware gt ee OO aed S dk BE GaS e S m fioo Normal FRU ME 1 0 100 ode 45 fay Figure FMU Block in Simulink Double clicking on the block opens a GUI and the FMU file can be loaded With the specifications from the loaded FMU file the FMU block automatically adjusts its ports including their names see figure Specified FMU Block in Simulink File Edit Wiew Simulation Format Tools Help D S st SPRleortl 2s m fioo Normal wheel rotationangle speed ace 1 tongue to_wwhee wheel rotationangle speed acc wheel rotationangle speed acefs engine speed p engine torque clutch position clutch output_speed p gear_ratio SimpleOrive Train _O YAMA Mllnte gration D emo 100 ode dS an Figure Specified FMU Block in Simulink Copyright 2014 TESIS DYNAware All brands trademarks and registered trademarks are the property of their holders Importing FMUs into DYNA4 The objective of this tutorial step is to show how to integrate an FMU into the DYNA4 simulation framework The following topics are addressed e Create a user defined module including FMU blocks and adjust its settings e Create a DYNA4 component including FMU modules and import this component into a simulation model The following workflow is recommended because it allows maximum integration with the DYNA4 framework functionality The full integration process can be spli

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