Modeling and Simulation for Heterogeneous systems
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1 Modeling and Simulation for Heterogeneous systems Hosted Simulation for airvehicle subsystem design Henric Andersson Saab Aerosystems
2 My background Control engineer from ISY Linköping University Simulation engineering Complex power-plants at ABB Carbon > 10 years Saab/Gripen flight control system 6 10 years Requirements and change management Introduction of DOORS at Saab Improvement of incremental development Methods for Model Based Engineering, last 3 years SPEEDS, NFFP4 Industrial PhD student in MBE methods & tools MODPROD 2008 Henric Andersson 2
3 Content Introduction (motivation) Heterogeneous system modeling Modeling domains Hosted Simulation Two approaches Furter work - SPEEDS Summary MODPROD 2008 Henric Andersson 3
4 Motivation to model based engineering Graphical models increase understanding Models form the virtual product which enables: Analysis (performance, stress, cost, weight...) Usability verification Reuse of technical solutions Design optimization Early integration End user training MODPROD 2008 Henric Andersson 4
5 General heterogeneous model structure Sensors Physical world ( plant ) Embedded Controller Task Task Task Task Task Actuators A typical model of a subsystem such as fuel system or flight control system may be divided in the four classes: plant, sensors, actuators and controller
6 Modeling domains The domains have been defined based on underlying mathematical foundation / meta-models but also available tools Usage, Needs, Architecture Control f(t) -> L (s) G(s) F(.) Information Class G Prop GetSpe Class H Number MMI Virtual Models of information objects, needs, services Structure F Physical systems Embedded Electronics Optrinics U=1 OpAmp I/O Models of physical objects Diode Ground Model Integration and System Simulation MODPROD 2008 Henric Andersson 6
7 Usage, Needs, Architecture Control f(t) -> L (s) G(s) F(.) Information Class G Prop GetSpe Class H Number MMI Virtual Models of information objects, needs, services Structure F Physical systems Embedded Electronics Optrinics U=1 OpAmp I/O Models of physical objects Diode Ground Model Integration and System Simulation MODPROD 2008 Henric Andersson 7
8 Control f(t) -> L (s) Simulink G(s) F(.) SysML Usage, Needs, Architecture Information Class G Prop UML GetSpe Class H Number MMI Virtual VAPS Examples of means/tools to build models Models of information objects, needs, services Structure CATIA F Physical systems Embedded Modelica Electronics Optrinics U=1 I/O OpAmp PSpice Models of physical objects Diode Ground Model Integration and System Simulation MODPROD 2008 Henric Andersson 8
9 Modeling techniques (1) Architecture modeling View of the structure of the system Identification of actors, environment, system components, their interfaces and their relations System Environment Pump Controller Sensor MODPROD 2008 Henric Andersson 9
10 x& y = = f Modeling techniques (2) Continuous dynamics ( u, x) g( u, x) 0 = f ( u, x, x&, y) Ordinary Differential Equation Explicit Casual Signal-flow (Simulink) Differential Algebraic Equation Implicit Non casual Power-port (Modelica) MODPROD 2008 Henric Andersson 10
11 Modeling techniques (2) Graphical representation x& y = = f ( u, g( u, x) x) 0 = f ( u, x, x&, y) ODE (explicit) Explicit Casual Signal-flow (Simulink) DAE Implicit Non casual Power-port (Modelica) MODPROD 2008 Henric Andersson 11
12 Modeling techniques (3) Discrete dynamics Automata for event based models Gear in Cruise Gear out Take-off Climb Abort Approac h Land Shutdown Acc Taxi Park MODPROD 2008 Henric Andersson 12
13 Study on Hosted Simulation There are several methods to model and simulate heterogeneous systems, such as Co-Simulation. Hosted simulation is another promising technique The study includes following aspects: How to set up the environment Verification and validation Simulation time performance Initialization of model states Model development/management Pre and post processing Documentation Study together with Sören Steinkellner within the NFFP reseach program See also poster MODPROD 2008 Henric Andersson 13
14 System model overview (generic) The system model includes: hardware equipment, modelled in Dymola control logic (software), modelled in Simulink connections between the two models System model Equipment model Control model MODPROD 2008 Henric Andersson 14
15 Example UAV fuel system Control model (sw) Equipment model (hw) MODPROD 2008 Henric Andersson 15
16 Models, UAV fuel system Control model in Simulink/Stateflow Hardware model in Dymola Data 1Hz Includes discrete states Event-based Non-linear, Stiff 85 components, 800 stats and parameters MODPROD 2008 Henric Andersson 16
17 Approach 1 - Dymola is host Code is generated from Simulink with Real Time Worksop/Embedded Coder and then included as a black box representing the controller i the Dymola model MODPROD 2008 Henric Andersson 17
18 Approach 1 - Substitute Dymola control model with generated code from Simulink Simulate! Generate simulation c-code Substitute in Dymola MODPROD 2008 Henric Andersson 18
19 Approach 1 - Substitute Dymola control model with generated code from Simulink Simulate! /* * File : control_sw.c * RTW version : 6.5 (R2006b) * Generate Model version simulation : 1.02 c-code */ Substitute in Dymola #include types.h #include lib.h Void initiate (info minfo) {... } MODPROD 2008 Henric Andersson 19
20 Approach 1 - Substitute Dymola control model with generated code from Simulink Generate simulation c-code Substitute in Dymola Simulate! CU s/w MODPROD 2008 Henric Andersson 20
21 Approach 1 - Substitute Dymola control model with generated code from Simulink Generate simulation c-code Substitute in Dymola Simulate! CU s/w MODPROD 2008 Henric Andersson 21
22 Approach 1 - Substitute Dymola control model with generated code from Simulink Generate simulation c-code Substitute in Dymola Simulate! CU s/w MODPROD 2008 Henric Andersson 22
23 Approach 2 Simulink is host The equipment model (simulation code) is generated from Dymola and a block representing the plant is added in Simulink to call the simulation code as a black box MODPROD 2008 Henric Andersson 23
24 Approach 2 - Substitute Simulink equipment model with generated code from Dymola MODPROD 2008 Henric Andersson 24
25 Approach 2 - Substitute Simulink equipment model with generated code from Dymola /* * File : equipment.c * Dymola ver. : 6.5 (R2006b) * Model version : 1.04 */ #include types.h #include lib.h Void initiate (info minfo) {... } MODPROD 2008 Henric Andersson 25
26 Approach 2 - Substitute Simulink equipment model with generated code from Dymola Equiment Model Component MODPROD 2008 Henric Andersson 26
27 Approach 2 - Substitute Simulink equipment model with generated code from Dymola Equiment Model Component MODPROD 2008 Henric Andersson 27
28 Which approach to prefer? Question; which approach is the best? The general answer; a power port tool is to prefer as Hosted Simulation Tool if the system is equipment intensive and a signal flow tool if it is software intensive MODPROD 2008 Henric Andersson 28
29 Hosted Simulation Conclusions Hosted simulation is a promising and efficient technique Synergy effects: Increase of system model confidence Decreased execution time during simulation Increase in the number of useful simulation tasks Enabling verification of complex system functionality Compared to Co-simulation it requires not access to several licenses during simulation MODPROD 2008 Henric Andersson 29
30 Further work on Hosted Simulation Usability for large scale models/project Suitability of the two approaches during different phases of aircraft development Evaluation of SysML + SPEEDS MetaModel as general interface specification of models components Generation of structural information to get a gray box representation in the host tool (SPEEDS) MODPROD 2008 Henric Andersson 30
31 SPEEDS integrated environment SCADE Rhapsody Simulink Modeling Tool Y Modeling Tool X SCADE Simulink SCADE Display Rhapsody Tool Z RT-Builder Adapter Adapter SPEEDS Engineering Bus Process Advisor Repository Analysis Y Analysis X MODPROD 2008 Henric Andersson 31
32 Hosted simulation á la SPEEDS Tool A MM-A Tool B MM-B C1 C1 C2 Export HRC Interface Abstraction SPEEDS Wrapper SPEEDS MM Import TOOL-B API API-Functionality: Initialization Port Binding Data Exchange Event exchange Operation calls Activation Timing Tool-specific Implementation MODPROD 2008 Henric Andersson 32
33 Hosted simulation á la SPEEDS SPEEDS will give the possibilities: Flexibility in the choise of tools Common metamodel Standardized API Enabling even earlier integration But also: Usage of executable assumption/promise to create observers within the model MODPROD 2008 Henric Andersson 33
34 Hosted simulation and observers Tool A MM-A C1 Assumption/ Promise on the component interface... C1 Tool B MM-B C2... may be converted into an observer during hosted simulation Export HRC Interface Abstraction SPEEDS Wrapper SPEEDS MM Import TOOL-B API API-Functionality: Initialization Port Binding Data Exchange Event exchange Operation calls Activation Timing Tool-specific Implementation MODPROD 2008 Henric Andersson 34
35 Further work Creation of a common modeling method and guidelines based on SysML for avionics design Saab together with i.e. Airbus and Telelogic MODPROD 2008 Henric Andersson 35
36 Thank you! As computer scientist Richard Hamming stated already in the 1950 s about the important aspect of the application of computer technology: The purpose of computing is insight, not numbers. Or how I want to put it: The purpose of modeling is understanding, not square boxes MODPROD 2008 Henric Andersson 36
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