Modelica is a multi-domain and equation-based modeling language. Modelica is based on object-oriented principles and non-causal modeling. The language is constructed to facilitate reuse and decompose models. The models and the modellibrary can modified to design a new nonlinear components. Object-oriented modeling is an excellent way to analyze and study large complex heterogeneous physical systems. The object-oriented modeling approach build on reusing and decomposition of models and non-causal modeling. Modeling physical systems often leads to a DAE system with index 2 or 3. It is required to use automated symbolic manipulation of the DAE system to do the simulation. Modelica need a compiler tool to run the simulation. Dymola is the dominating tool on the market. Through a graphic editor the user can easily model and simulate the physical system. / Objektorienterad modellering är ett utmärkt sätt att analysera och modellera fysikaliska system. Den ger möjlighet att hantera stora, komplexa och blandade system. Modelica är ett exempel på ett multidomän modelleringsspråk som är ekvationsbaserat och hanterar modeller från olika fysikaliska domäner. Det är baserat på principer från objektorientering och hanterar icke-kausala problem. Modelicas struktur gör att befintliga modeller kan delas upp i delmodeller som kan designas och testas oberoende av de andra delmodellerna. Det ger överskådlig bild av fysikaliska systemet. Modellbibliotek i Modelica kan enkelt modifieras för att designa nya komponenter. Modellering av fysikaliska system, speciellt mekaniska eller mekatroniska system ger upphov till DAE system med index 2 eller 3. Det resulterar svårigheter vid simulering av modeller. En automatiserad symbolisk manipulering av DAE systemen behövs för att underlätta simuleringen. För att simulera modeller skrivna i Modelica, behövs en kompilator och ett simuleringsverktyg. Dymola är det dominerande verktyget för dessa ändamål. Man har tillgång till Modelicas standardbibliotek via ett grafiskt gränssnitt. Vid simulering kontrolleras modellen så att Modelicas syntax är uppfylld. Sedan kompileras och simuleras modellen.

In today’s world of high tech manufacturing and computer-aided design simulations of models is at theheart of the whole manufacturing process. Trying to represent and study the variables of real worldmodels using simulation computer programs can turn out to be a very expensive and time consumingtask. On the other hand advancements in modern multi-core CPUs and general purpose GPUs promiseremarkable computational power. Properly utilizing this computational power can provide reduced simulation time. To this end modernmodeling environments provide different optimization and parallelization options to take advantage ofthe available computational power. Some of these parallelization approaches are based onautomatically extracting parallelism with the help of a compiler. Another approach is to provide themodel programmers with the necessary language constructs to express any potential parallelism intheir models. This second approach is taken in this thesis work. The OpenModelica modeling and simulation environment for the Modelica language has beenextended with new language constructs for explicitly stating parallelism in algorithms. This slightlyextended algorithmic subset of Modelica is called ParModelica. The new extensions allow modelswritten in ParModelica to be translated to optimized OpenCL code which can take advantage of thecomputational power of available Multi-core CPUs and general purpose GPUs.

This thesis covers the modelling of a Heat Recovery Steam Generator (HRSG) in a Combined Cycle Power Plant(CCPP). This kind of power plant has become more and more utilized because of its high efficiency and low emissions. The HRSG plays a central role in the generation of steam using the exhaust heat from the gas turbine. The purpose of the thesis was to develop efficient dynamic models for the physical components in the HRSG using the modelling and simulation software Dymola. The models are then to be used for simulations of a complete CCPP.The main application is to use the complete model to introduce various disturbances and study their consequences inthe different components in the CCPP by analyzing the simulation results. The thesis is a part of an ongoingdevelopment process for the dynamic simulation capabilities offered by the Solution department at SIT AB. First, there is a theoretical explanation of the CCPP components and control system included in the scope of this thesis. Then the development method is described and the top-down approach that was used is explained. The structure and equations used are reported for each of the developed models and a functional description is given. Inorder to ensure that the HRSG model would function in a complete CCPP model, adaptations were made and tuning was performed on the existing surrounding component models in the CCPP. Static verifications of the models are performed by comparison to Siemens in-house software for static calculations. Dynamic verification was partially done, but work remains to guarantee the validity in a wide operating range. As a result of this thesis efficient models for the drum boiler and its control system have been developed. An operational model of a complete CCPP has been built. This was done integrating the developed models during the work with this thesis together with adaptations of already developed models. Steady state for the CCPP model is achieved during simulation and various disturbances can then be introduced and studied. Simulation time for a typical test case is longer than the time limit that has been set, mainly because of the gas turbine model. When using linear functions to approximate the gas turbine start-up curves instead, the simulation finishes within the set simulation time limit of 5 minutes for a typical test case.

VehProLib is one of many libraries being developed for the object oriented multi-domain language Modelica. The layout and the current status of the library are shown. The aims of the library are to provide the user with a number of different components with different levels of complexity. The components included range from mean value engine components to in-cylinder models. An efficient way to handle parameters using records is provided. Different bus systems are implemented and discussed. Furthermore are replaceable fluid models introduced in the library. It will be shown that Modelica is a very efficient way to create an advanced modelling library.

Hybrid electric vehicles have two power sources - an internal combustion engine and an electric motor. These vehicles are of great interest because they contribute to a decreasing fuel consumption and air pollution and still maintain the performance of a conventional car. Different topologies are described in this thesis and especially the series and parallel hybrid electric vehicle and Toyota Prius have been studied. This thesis also depicts modelling of a reference car and a series hybrid electric vehicle in Modelica. When appropriate, models from the Modelica standard library have been used. Models for a manual gearbox, final drive, wheel, chassis, air drag and a driver have been developed for the reference car. For the hybrid electric vehicle a continuously variable transmission, battery, an electric motor, fuel cut-off function for the internal combustion engine and a converter that distributes the current between generator, electric motor and internal combustion engine have been designed. These models have been put together with models from the Modelica standard library to a reference car and a series hybrid electric vehicle which follows the NEDC driving cycle. A sketch for the parallel hybrid electric vehicle and Toyota Prius have also been made in Modelica. Developed models have been introduced into the Modelica library VehProLib, which is a vehicle propulsion library under development by Vehicular Systems, Linköpings universitet.

The practice of building simulation is split between domains such as energy, multizone airflow, computational fluid dynamics (CFD) airflow, and controls analysis, as well as between the tools which conduct these analyses. Previous work in the integration of these analyses and tools have focused on linking existing tools, written in algorithmic programming languages, together by interfacing them using coupling mechanisms implemented in algorithmic programming languages. This thesis takes a different approach, using the equation-based, object oriented modeling language Modelica to create models in different domains and interfaces between those models within a single framework which has benefits to the modeler/analyst in terms of both representation of physical processes and flexibility in modeling systems composed of many interacting components. Specifically, the simulation of airflows within buildings has historically been compartmentalized into distinct domains such as nodal network (multizone) simulations and CFD. Such airflow simulations are also often treated independently of building energy simulations (via heat transfer) despite their interrelation. Recent work has reported on combining these types of analyses by linking pre-existing simulation software together. Here a prototype CFD package of models is built in Modelica and coupled to models of conductive heat transfer and controls. Comparisons of results of simulations so constituted to analytical solutions and benchmark data available in the literature show good agreement, indicating the technical viability of this approach. Limitations include the absence of turbulence modeling and the lack of modeling features which improve computational efficiency, such as non-uniform grids.

<p>Modelica is an equation-based object-oriented language (EOO). PELAB at Linköping University along with the OpenModelica development group, is developing a metamodeling extension, MetaModelica, to this language along with a compiler called the OpenModelica Compiler (OMC).</p><p>The goal of this thesis was to analyze the compiler, extend it with union type support and then write a report about the extension with union types in particular and extension with high level data structures in general, to facilitate further development. </p><p>The implementation made by this thesis was implemented with the goal of keeping the current structure intact and extending case-clauses where possible. The main parts of the extension is implemented by this thesis work but some parts concerning the pattern matching algorithms are still to be extended. The main goal of this is to bootstrap the OpenModelica Compiler, making it able to compile itself although this is still a goal for the future.</p><p>With this thesis I also introduce some guidelines for implementing a new highlevel data structure into the compiler and which modules needs extension.</p>

To develop competitive vehicles with ever increasing complexity, automotive designers need to improve their ability to explore a broad range of system architectures efficiently and effectively. Whereas traditional vehicle systems are based upon internal combustion (IC) engines, today’s environmentally conscious vehicle manufacturers must consider alternatives to the IC engine-only systems such as hybrid or electric systems. To help the engineers to model these multiple alternatives, it would be ideal to start from a base vehicle architecture. To design a good vehicle, it is necessary for each of these system architectures to be analyzed from a variety of attributes including performance, fuel economy, or even thermal behavior. Creating the necessary analysis models for each system architecture would be time-consuming, expensive, and could be error prone. To aid in overcoming such challenges, we have developed an approach for supporting the generation of subsystem model templates to support the integration of analysis models. The approach is based on formally modeling the system architecture in the Systems Modeling Language (OMG SysML) and then using model transformations to generate stubs for corresponding analysis models in Modelica and Simulink. In this manner, we assist designers in managing large systems with multiple analyses, ensuring that the systems remain consistent, and enabling the reuse of generic architectures through specialization and redefinition. The starting point is a reference architecture, called the Vehicle Model Architecture or VMA, in which all the key subsystems and interactions between subsystems are formally modeled. In addition, we have created a generic template that is a specialized version of the VMA. This specialized template can then be adapted by the systems engineer to represent a specific vehicle program. In addition, pre-defined, generic analysis templates can be redefined for the specific vehicle program under analysis. The SysML VMA system model is transformed through two model transformations, one that translates the physical portion of the system to Modelica, and one that transforms the logical controls portion of the system to Simulink. By automating these transformations and reusing a set of fixed templates for further specialized architectures, this approach helps to manage the complexity, reduces modeling time by enabling system model reuse. The entire approach taken in this thesis has been named the Vehicle Architecture Modeling Framework, VAMF, which includes the SysML VMA, the corresponding analysis templates, and the tools developed to support this approach. Throughout this thesis, the specific (fictitious) vehicle program “C100” and a 0-to-100 kph performance analysis test are used as examples for demonstration.

A Cyber-Physical System (CPS) has a tight integration of computation, networking and physicalprocess. It is a heterogeneous system that combines multi-domain consisting of both hardware andsoftware systems. Cyber subsystems in the CPS implement the control strategy that affects the physicalprocess. Therefore, software systems in the CPS are more complex. Visualization of a complex system provides a method of understanding complex systems byaccumulating, grouping, and displaying components of systems in such a manner that they may beunderstood more efficiently just by viewing the model rather than understanding the code. Graphicalrepresentation of complex systems provides an intuitive and comprehensive way to understand thesystem. OpenModelica is the open source development environment based on Modelica modeling andsimulation language that consists of several interconnected subsystems. OMEdit is one of the subsystemintegrated into OpenModelica. It is a graphical user interface for graphical modeling. It consists of toolsthat allow the user to create their own shapes and icons for the model. This thesis presents a methodology that provides an easy way of understanding the structure andexecution of programs written in the imperative language like C through graphical Modelica model.

Na busca de maior flexibilidade, agilidade, reuso e consequente redução de custos, esforços tem sido direcionados no sentido de desenvolver métodos e ferramentas de engenharia de sistemas baseados em modelos. Apesar dos avanços recentes, as tecnologias disponíveis ainda despertam dúvidas em relação à sua aplicação prática e seus benefícios. Os maiores obstáculos estão contidos na dificuldade da integração entre ferramentas e troca de informações entre artefatos de diferentes disciplinas. Com o objetivo de comparar a Engenharia Centrado em Documentação (ferramentas CAx) com a Engenharia de Sistemas Baseada em Modelos (MBSE), esse trabalho utilizou um domínio industrial real para extrair, analisar e comparar dados quantitativos e qualitativos do projeto de engenharia. Foi desenvolvido um método de engenharia baseada em modelos com o uso da ferramenta Eclipse para a comparação com o método de engenharia vigente. A linguagem ModelicaML foi utilizada para criar os modelos abstratos enquanto que a ferramenta COMOS® da Siemens® foi utilizada para a realização dos artefatos técnicos multidisciplinares do domínio em estudo. O software OpenModelica foi utilizado para simular o comportamento do sistema a partir da transformação do modelo abstrato para código Modelica com o uso de software escrito em Java. Os dados de engenharia e de gerenciamento do projeto do Sistema de Circulação de Água foram disponibilizados pela General Electric Inspection Technologies GmbH e foram utilizados para a comparação entre os dois métodos analisados. Os testes demonstraram que as ferramentas MBSE necessitam de refinamento, principalmente quando conectam os modelos abstratos às plataformas de execução de projetos. Em contrapartida, MBSE se mostrou uma excelente ferramenta na comunicação entre equipes multidisciplinares, pois proporciona uma linguagem de representação de sistemas abstrata e abrangente. A interligação dos modelos abstratos desenvolvidos em ModelicaML com a plataforma de simulação usando linguagem Modelica foi fundamental na análise e melhor compreensão dos fenômenos envolvidos no processo técnico propiciando um importante avanço na antecipação da detecção de erros em projetos de sistemas de automação. / Achieving more flexibility, agility, reuse and consequently cost reduction in scope of Systems Engineering is an industrial need. In that sense, efforts have been driven to develop Model-Based Systems Engineering tools and methods. Despite of recent progress, there are still doubts in terms of the practical use and benefits. The main issues are related to tool integration and exchange of information between multidisciplinary artifacts. This project is intended to compare Document-Based Engineering (CAx tools) and Model-Based Systems Engineering (MBSE) in scope of Industrial Automation using a real domain. Therefore, a MBSE methodology was developed centered on the Eclipse tool. The ModelicaML language was used to perform abstract modeling while COMOS® from Siemens® was used to develop the multidisciplinary artifacts necessary for the domain under investigation. Furthermore, the OpenModelica environment was used to simulate system and component behavior using object codes generated by a Java tool from the abstract models. The engineering and project management data of the Water Circulation System were made available by General Electric Inspection Technologies GmbH, which served as the case study for this comparison. Tests have shown that the tools involved on this investigation still need further development concerning maturity and exchange of information from abstract models down to domain models. On the other hand, MBSE has proven to be an important tool to match different team approaches and concerns helping on communication using conceptual-wide and abstract symbols. Connecting abstract models from ModelicaML to a simulation environment using Modelica language have been proven to be an important approach to better understand systems behavior and provided an analysis environment for early detection of errors and failures.