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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

Course Description

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