Title: | DGC 100 Modelica Course Fall 2003 |
Author: | hubertus |
Submitted: | October 12th, 2003 |
Topic: | Courses |
Class: | Caltech Public |
DGC 100 Vehicle Dynamcis Modeling with Modelica
Instructor
Hubertus Tummescheit,
UTRC, phone: 860 610 7209
mail: hubertus@control.lth.se
Office hours: by email appointment
The course will teach object-oriented modeling and simulation of
complex multi-physics systems using the Modelica language. The goal is
to develop real-time capable, full system models of the DGC off-road
vehicle and some of its subsystems.
Part I (3 lectures): Thorough introduction to the
Modelica
language, syntax and semantics using practical engineering examples.
Part II (3 lectures):
Introduction to modeling of multi-body systems and Vehicle dynamcis
modeling. Overview of design principles for reusable, object-oriented
model libraries.
Part III (2 lectures): numerical and modeling techniques
(analysis
of numerical structure, inline integration, time-scale separation) to
achieve and verify real-time
performance of complex multi-physics system models.
Lectures
Thurs
Oct 16, 4-6pm, |
110
Steele |
Introduction to Modelica (double
lecture) handout
|
Sat
Oct 18,
4.30-6pm, |
CDS
library (1st floor of
Steele, next
to 110 Steele) |
Dymola tutorial and exercises I [handout, part 1] and [exercises, part 1], [exercises, part 2] and [Modelica code for exercises (zipped)]
|
Tues
Oct 21, 3-4pm |
110
Steele |
Modeling of Multibody Systems I handout
|
Wed
Oct 22, 4-5pm |
110
Steele |
Advanced Modelica Concepts (included in last weeks lecture notes), Vehicle dynamics modeling handout 2
|
Tue
Oct 28, 3-4pm |
110
Steele |
Robust sytems modeling, model
library design handout and reading material
|
Tue Nov 4, 3-4 pm |
110
Steele |
Principles of real time
simulation and HIL modeling handout
|
Team Project
This document is going to be updated with new versions as the project progresses. This first version describes some simple models for control development as a warm-up exercise for the full vehicle model.
version 11/03/2003. This document will be updated over the weekend November 1/2!
Reading Material
The reading material is a preprint from
[1]
that will be published later this year, a chapter from my thesis
[2] and various articles about numerical
and practical issues of HIL-modeling.
Part I, Modelica language:
Chapter
1 from [1],
Chapter
2 from [1],
Chapter
5 from [1].
Part II, MBS modeling:
Parts ofChapter
14 from [1],
Parts ofChapter
15 from [1],
paper by Otter, Elmqvist, Mattsson about new MultiBody library.
Vehicle Dynamics library,
paper by Andreasson about VehicleDynamics library,
paper by Beckmann and Andreasson from Modelica 2003 conference about wheels models for the VehicleDynamics library,
Johan Andreasson about wheel modeling again, an older paper from Modelica 2002.
paper by Heller and Buente about car maneuvres using VehicleDynamics library
Part III, Real-time simulation
A paper by Soejima about HIL and real-time simulation at Toyota
Schiela and Olsson about Mixed-Mode integration, an important technique for achieving real-time performance with Mechantronics models.
Software
The course software Dymola from Dynasim AB is available on the Linux
machines in the CDS computer lab in Steele 130. Course participants
need an account from
Glenn Bach.
Talk to Glenn about availability and printed documentation. You can
start getting familiar with Dymola using the
Getting
Started Guide. All dymola documentation is accesible from the
Dymola help menu. Pages 205 - 216 are of interest for the Simulink interface. A brief summary about how to use this interface from a Linux or other Unix machine is
here (it's a bit out of date, for a fresh example, look in the cvs-repository at gc/s-functions/example).
An online manual for the version control system cvs is available at:
cvshome.org
A short references provided by Dave is
cvs.htm
Exercises and Examples
The solutions to the first set of
exercises are online now. Take a look at the bouncing ball example and how it is solved here.
Libraries
Please install both of the libraries, you will need them for future exercises.
Literature
[1] Peter Fritzson, Principles of Object-oriented
Modeling and Simulation, 2003, IEEE Press
[2] Hubertus Tummescheit, Design and Implementation
of Object-Oriented Model Libraries using Modelica, 2002, Department of
Automatic Control, Lund Institute of Technology.
[3] Michael M. Tiller, Introduction to Physical
Modeling with Modelica, 2001, Kluwer Academic Publishers