Dymola Dynamic Modeling Laboratory

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1 Dymola Dynamic Modeling Laboratory Dymola Release Notes Dymola 2018 FD01

2 The information in this document is subject to change without notice. Document version: 1 Copyright by Dassault Systèmes AB. All rights reserved. Dymola is a registered trademark of Dassault Systèmes AB. Modelica is a registered trademark of the Modelica Association. Other product or brand names are trademarks or registered trademarks of their respective holders. Dassault Systèmes AB Ideon Gateway Scheelevägen 27 Floor 9 SE Lund Sweden Support: URL: Phone:

3 Contents 1 Important notes on Dymola About this booklet Dymola 2018 FD Introduction Additions and improvements in Dymola New and updated libraries Developing a model Support for Modelica 2 in Dymola discontinued Highlighting connections More variables displayed in the parameter dialog Parameters in parameter dialog evaluated Support for customized setup file in.mos format Minor improvements Simulating a model Improved sparse linear algebra support Improvements in Variable Browser Improved model debugging New event logging user interface Plot window Scripting Minor improvements Installation Dymola as a 32-bit application discontinued Installation on Windows Installation on Linux Other Simulation Environments Dymola Matlab interface Real-time simulation Java, Python, and JavaScript Interface for Dymola FMI Support in Dymola Advanced Modelica Support External functions in other languages Modelica Standard Library and Modelica Language Specification New libraries

4 ClaRaPlus Library Bundle Dassault Systems Library Fluid Dynamics Library Fluid Power Library FTire Interface Library Hydrogen Library Testing Library Vehicle Demos Library (Demo) Updated libraries Battery Library Cooling Library Dymola Commands Library Electrified Powertrains Library Human Comfort Library HVAC (Heating, Ventilation, and Air Conditioning) Library Thermal Systems Library VeSyMA (Vehicle Systems Modeling and Analysis) Library VeSyMA Engines Library VeSyMA Powertrain Library VeSyMA Suspensions Library Documentation Appendix Installation: Hardware and Software Requirements Hardware requirements/recommendations Software requirements... 64

5 1 Important notes on Dymola Installation on Windows To translate models on Windows, you must also install a supported compiler. The compiler is not distributed with Dymola. Note that administrator privileges are required for installation. Three types of compilers are supported on Windows in Dymola 2018 FD01: Microsoft Visual Studio C++ This is the recommended compiler for professional users. Note that free Microsoft compiler versions earlier than Microsoft Visual Studio Express 2008 are not supported (concerning full versions, some earlier versions are supported). Refer to section Compilers on page 64 for more information. Intel Dymola 2018 FD01 has limited support for the Intel Parallel Studio XE compiler. For more information about this compiler, see section Compilers on page 64; the section about Intel compilers. GCC Dymola 2018 FD01 has limited support for the MinGW GCC compiler, 32-bit and 64-bit. For more information about GCC, see section Compilers on page 64; the section about GCC compilers. Installation on Linux To translate models, Linux relies on a GCC compiler, which is usually part of the Linux distribution. Refer to section Supported Linux versions and compilers on page 66 for more information. 2 About this booklet This booklet covers Dymola 2018 FD01. The disposition is similar to the one in Dymola User Manual Volume 1 and 2; the same main headings are being used (except for, e.g., Libraries and Documentation). Dymola 2018 FD01 Release Notes 5

6 3 Dymola 2018 FD Introduction Additions and improvements in Dymola A number of improvements and additions have been implemented in Dymola 2018 FD01. In particular, Dymola 2018 FD01 provides: A number of new free and commercial libraries (list on page 6) Highlighting connections by clicking them (page 8) More variables displayed in the parameter dialog (page 10) Parameters in the parameter dialog evaluated (page 12) Support for customized setup file in.mos format (page 13) Improved support for sparse linear algebra (page 19) Displaying changed variable values in the variable browser (page 21) Synchronizing values in the variable browser with the simulation (page 20) New event logging user interface (page 24) Improved model debugging (page 23) Plot window improvements (page 31) FMU Export: Exporting model image with an FMU (page 39) New and updated libraries New libraries The following libraries are new in this Dymola version: Free libraries FTire Interface Library, version 1.0 Testing Library, version 1.0 Commercial libraries ClaRa Plus Library, version 1.0.0, including usage of o ClaRa Grid Library, version o o Fluid Dissipation Library, version (licensed under the Modelica License 2) TSMedia Library Dassault Systemes Library, version 1.0 6

7 Fluid Dynamics Library, version 1.0 Fluid Power Library, version Hydrogen Library, version 1.0 Vehicle Demos Library, version (demo) For more information about the new libraries, please see the section New libraries starting on page 43. Updated libraries The following libraries have been updated: Battery Library, version 2.0 Cooling Library, version 1.2 Dymola Commands Library, version 1.4 Electrified Powertrains Library, version 1.2 Human Comfort Library, version HVAC (Heating, Ventilation, and Air Conditioning) Library, version Thermal Systems Library, version VeSyMA (Vehicle Systems Modeling and Analysis) Library, version VeSyMA - Engines Library, version VeSyMA - Powertrain Library, version VeSyMA - Suspensions Library, version For more information about the updated libraries, please see the section Updated libraries starting on page Developing a model Support for Modelica 2 in Dymola discontinued Modelica 3.0 was standardized in September 2007 and Modelica Standard Library 3.0 was introduced in March 1, Modelica 2 traces its origins back to The support for Modelica 2 in Dymola is discontinued from Dymola 2018 FD01. Neither simulation nor editing of Modelica 2 models is supported. Modelica Standard Library (MSL) 2.x is not available. Conversion from Modelica 2 to Modelica 3 is still possible in this version, but it is easier to verify the conversion in a previous version of Dymola, e.g. Dymola 2018, where Modelica 2 is still supported. For more information and tips about conversion, see MigrationModelica2.pdf. If support is needed, please contact support by Dymola 2018 FD01 Release Notes 7

8 3.2.2 Highlighting connections Connections can be highlighted by clicking them: If more than one connection exists where you click, all are highlighted: If overlapping connections are clicked, only the ones with a common port are highlighted. The feature is disabled by default. To activate it, use the command Edit > Options, and tick Highlight connection when selected in the Graphical Editor tab: 8

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10 3.2.3 More variables displayed in the parameter dialog A new group Custom Parameters in the parameter dialog has been added. The group can contain variables as below. Modifiers of non-existing variables Modifiers of non-existing variables, typically the result of deleting parameters without deleting the related modifiers are displayed with a little warning sign and a button Remove modifier to delete them. Below an example where the parameter Dummy1 has been removed from MyTest, without removing the modifier corresponding to setting the value of Dummy1 to 1 in Application1: 10

11 Modified variables usually not displayed in the parameter dialog An example is the input parameter of an integrator component, connected by graphical connection but also modified by adding a unit as a modifier: Dymola 2018 FD01 Release Notes 11

12 3.2.4 Parameters in parameter dialog evaluated Right-clicking a parameter input field in the parameter dialog and selecting View Parameter Settings displays an information pane, where now the actual value in the first row also has an evaluated value. As an example, in the VeSyMA library, do the following: Open Experiments.Examples.GradientTest. Right-click the vehicle component and select Show Components. Right-click the driveline component and select Parameters. In the parameter dialog, select the Initialization tab. Right-click the input field of w_start and select View Parameter Settings. The result is: The framed part is new in Dymola 2018 FD01. If the value is not shown here, it cannot be evaluated, or the formula is trivial. This feature helps you to see if complicated formulas give reasonable value without having to first simulate, which might be excessive. 12

13 3.2.5 Support for customized setup file in.mos format The present setup xml file setup.dymx allows customization, but there may be a need for having a personal setup file in.mos format, overriding the xml file. Such a file can in Dymola 2018 FD01 be created by a new command button in the script editor: In Windows, the command opens the file startup.mos in the directory \Documents\Dymola. If no such file exists, it is created when saving the entered text in the script editor. The script editor looks the following if no such file exists: If the file startup.mos exists, this file will be executed after executing setup.dymx. Note: There is another possibility to have a personal setup file in.mos format; that is to create such a file and include the path to that file as a command line argument in the shortcut starting Dymola. This file is executed after the two files mentioned above. This option has been available also in previous versions. In Linux, the above is valid as well, except that the corresponding directory in Linux is /home/<user>/dymola. If such a directory is not present when Dymola is installed, the directory is automatically created. Dymola 2018 FD01 Release Notes 13

14 3.2.6 Minor improvements Changed options for formatting Modelica text Manual Formatting as selectable option has been removed. This change impacts the following: In the context menu of the Modelica Text editor, the command Settings > Manual Formatting has been removed. In the context menu of the Used Classes editor, the command Settings > Manual Formatting has been changed to Code-review Settings > Auto-format, inverting the meaning of the command. In the dialog reached by the command Edit > Options, the Text Editor tab, the option Manual formatting has been removed. As a consequence of this, it is ensured that loaded libraries are now not auto-formatted in the Modelica Text editor, even if the command Code-review Settings > Auto-format is activated in the Used Classes editor. Improved display unit handling Additional display units automatically handled The display units degc and rev/min are now also automatically handled. Better support for prefixed units The support for prefixed units, for example mv is improved: The scale-factor is checked for correctness. Prefixed units are automatically handled in the parameter dialog (e.g. when typing 2 mv in a parameter input field), or if found in models. The base-unit is checked (to prevent using e.g. mv in an input field with base unit A). Note. The diagnostics for bad units is not yet fully complete. Option to update component name when replacing the class When replacing the class of a component using the context command Change Class you now also can select to rename the component accordingly. This option Automatically rename component is set by default. Note that this automatic renaming is intended for the common case when the component has the default name from when it was instantiated, and it is only activated in this case. The new name will be the default name of the new class. 14

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16 Option to keep constraint of original declaration when changing class of a replaceable component This option is best illustrated by an example. Drag in Modelica.Blocks.Interfaces.SO to the diagram layer and accepted as replaceable. Now right-click this replaceable component, select Change Class and click Browse and search to replace it with e.g. an integrator. The menu will look like: In this example, keeping Keep constraint of original declaration ticked will mean having constrainedby Modelica.Blocks.Interfaces.SO on the new declaration. 16

17 Warning when making a component with default name replaceable If you select to make a component with default name (the name automatically given when instantiated) replaceable, you will get a warning: The reason is that in most cases the default name is not a good name. For example, making a resistor replaceable, it is better to first rename it to load rather than keeping resistor. Copying and pasting of redeclared components Copying and pasting commands have now been improved to handle also redeclared components. An important case is when copying redeclared components from a subcomponent of one model to another model. Dymola 2018 FD01 Release Notes 17

18 Copying graphical attributes between the diagram layer and icon layer and vice versa as a global flag Right-clicking in an open module displaying the diagram layer, and selecting Attributes, and selecting the Graphics tab, gives by default: The setting Copy attributes to Icon layer, and the corresponding Copy attributes to Diagram layer (when displaying the icon layer when taking up the menu) now corresponds to a new flag Advanced.AttributesBothLayers = true; Manually moving the bounding box of the coordinate system is also included in this setting. The setting/flag is not saved between sessions. 18

19 Changed shortcut to move a component half a grid unit in the diagram layer or icon layer The shortcut for moving a selected component half a grid unit in the diagram layer or icon layer has been changed to Ctrl+Shift+Up/Down/Left/Right to not collide with shortcuts for changing order. Storing signals in CSV format with double precision using alist.exe The program alist.exe, used for file, variable and matrix conversion, found in the folder Program Files\Dymola 2018 FD01\bin has been improved to handle storing of signal in CSV format with double precision. In other words, you can now use the e option (store signals in CSV format) together with the d option (store in double precision). The command File > Save Total improved In Dymola 2018 FD01 a new alternative Modelica Files Excluding ReadOnly Contents (*.mo) can be selected when using the command File > Save Total : Opening PDF links in external browsers External browsers, e.g. Windows Internet Explorer or Google Chrome, are always used to open links to PDF documents. 3.3 Simulating a model Improved sparse linear algebra support More algorithms supported by sparse solvers Dassl and Lsodar are now also supported by sparse solvers in Dymola. Support for analytic ODE Jacobians If the flag Advanced.GenerateAnalyticJacobian is set to true, analytic ODE Jabobians are used during simulation. If sparse solver usage is activated by the flag Advanced.SparseActivate=true these Jacobians will be stored in Dymola 2018 FD01 Release Notes 19

20 sparse matrix format during simulation and will be subject to sparse linear algebra. (Previously sparse linear algebra was only supported when using numeric Jacobians.) The Advanced.GenerateAnalyticJacobian flag is by default false. Setting the number of cores The number of cores used by the multithreaded (Open MP) variant of SuperLU can be set using the flag Advanced.NumberOfCores. If the value of the flag is set to 0 (default value) the number of cores is set to Improvements in Variable Browser Option to synchronize values in the variable browser with the animation time In the advanced mode of the variable browser (press the More>> button to see it) there is a new command button Show Start Values that can be used to activate synchronization between the animation time and the values displayed in the variable browser. By default this option is not activated. This means that the new command button Show Start Values is active (blue) and only start values are shown. As an example, running the Coupled Clutches demo using the command Commands > Simulate and Plot, looking at a certain time: Clicking the button, the new mode of showing synchronized values is activated. The result is: The value of the animation time (set by typing in the Time box, moving the time slider, or moving the measurement cursor, if activated) is used to update the values in the value column of the variable browser. 20

21 More values are displayed; all values that are changed by changing the animation time can now be seen in the variable browser. The result as seen in Dymola (compare with the image above): Due to this new option, the previous Time input value box for changing the display time of values in the variable browser has been removed. Option to display changed variable values In the advanced mode of the variable browser (press the More>> button to see it) there is a new command button Changes to display changed variable values. To be able to use this button, you must have at least two simulation results in the variable browser. Clicking Changes will compare the two last result files corresponding to the two last results displayed in the variable browser. Any difference will be shown in the variable browser. As an example, open the demo Coupled Clutches and simulate it using the command Commands > Simulate and Plot. Now change freqhz from 0.2 to 0.4 and J1.J from 1 to 4 in the variable browser, and then simulate again using the command button Simulate. (You cannot use Commands > Simulate and Plot now since this command does not take into account the changes you made.) Now clicking Changes will display the variable browser as: Dymola 2018 FD01 Release Notes 21

22 The changed variables are displayed with present values. To see the previous value for a variable, use the tooltip. Notes: The comparison is between two result files, not compared to the values in the model. For this reason, the result context command Save start values in model may not save the same values as is displayed by the Changes button. Pressing the Changes button will have the following impact on other buttons in the advanced mode: o Constants is activated o Time-Varying is deactivated and disabled o Show Start Values is activated and disabled The names of the result files do not have to be the same. In the above example, the result file from the command Commands > Simulate and Plot is dsres.mat, while using the Simulate command on the model creates the result file CoupledClutches.mat (due to using different underlying built-in functions). Pressing Changes again restores the variable browser to the previous display of result files, and restores the buttons mentioned. 22

23 3.3.3 Improved model debugging Improved diagnostic message for failed differentiation of Jacobians The new flag Advanced.PrintFailureToDifferentiate allows displaying the analysis message of failed differentiation of Jacobians to the command log. The use of the flag is indicated by the system when relevant. For example, opening the demo Coupled Clutches and using the simulation setup to set the inline integration method to Rosenbrock, and then simulating it give the following message: Setting Advanced.PrintFailureToDifferentiate=true and trying to simulate again gives: Dymola 2018 FD01 Release Notes 23

24 The flag is false by default New event logging user interface Event logging in Dymola 2018 FD01 Event logging has existed in Dymola for years, but the output in the simulation log file has been less than ideally user friendly and quite voluminous. The new event logging feature provides a convenient user interface to inspect the data and analyze the simulation behavior. (Note that a data sheet about this feature, including background and event basics is available. See AnalyzingEventLog.pdf.) To activate this new feature, apply the command Simulation > Setup and, in the Debug tab, check Events during simulation and, optionally, Events during initialization. To follow the scenario below and have the same results, open the Coupled Clutches demo by File > Demos > Coupled Clutches. 24

25 After performing the simulation (using the command Simulation > Simulate), in the Variable browser, right-click the top-level node of the simulation and select Analyze Numerics. The Simulation Analysis window is opened, with a new tab Event Log: The tab displays a list of all event points that happened during the simulation, sorted by time. If the option Events during initialization was selected in the simulation setup before the simulation, also those events are displayed as a first entry Initialization (not present in above figure). For each event point the number of events is shown. The event overview Clicking the Plot Event Overview button displays a window where the event iterations at each event point are plotted. The vertical axis displays the number of events in the iteration and the type of marker gives the type of event (time or state) that triggered the iteration. Dymola 2018 FD01 Release Notes 25

26 Inspecting individual events Expanding one of the rows in the Event Log table gives more details on which events that were involved in the selected event iteration. It shows the expression that triggered the event and value of the expression after the event. To help analysis, the most frequently occurring events (the 10-percentile) are marked in red and the tooltips shows the total count in the simulation. 26

27 (Note that at t=0.9 no such events occurred, but expanding t= displayed one such event.) Double-clicking a row highlights all concurrencies of this event expression in yellow, including collapsed event point rows. Highlighting can also be made by typing in the event expression in the search filter above the table. Highlighting is removed by clicking on the clear button at the end of the search filter. Dymola 2018 FD01 Release Notes 27

28 28 Clicking on the Expand Event button works like double-clicking the event, but also expands the events containing a highlight.

29 The search filter works like other search filters in Dymola: The search is dynamically updated while typing. Regular expressions can be used for the search, with the same special symbols as in other search filters in Dymola. This makes it possible to, for example: o o Type start*ward to highlight all events with startforward or startbackward. Type clutch{12} to highlight all events in clutch1 and clutch2 but neither clutch3, nor any other components. Further information about an event is available through right-clicking to display the context menu: Dymola 2018 FD01 Release Notes 29

30 30 The context commands Plot Values and Plot Iterations can be used to plot, in the currently active plot window, the values of the event expression, and the iteration number, each time the event expression changed, respectively. Below these have been plotted in the event overview plot window:

31 3.3.5 Plot window Easier to apply time sliding window In the plot setup, it is possible (also in previous versions) to, in the Options tab, set the Time window from end [s] (if > 0) to a value larger than 0 to create a time sliding window. That window displays the time range that is the value entered, and follow the simulation in such a way that the last simulate result is displayed to the right in the window. In Dymola 2018 FD01, it is possible to, during simulation, zoom in a curve, right-click the diagram and select Sliding Time Window from End. This will create a time sliding window like above, with the time range the same as the zoomed time range. This is indicated by a check mark in front of the option in the context menu. The time range will also be inserted for the above corresponding option in the Options tab of the plot setup. Important! Once you have activated such a sliding time window, you can only change the time range of it using the time in the Options tab. If you zoom such a window, you will get a static zoomed window. (A good signal to use when testing the feature is ElectrifiedPowertrains.Examples.ElectricDrives.LossySwitchingInvertor.multiSensor.power during a simulation with the stop time 1 second.) Improved rescaling when creating new diagrams (subplots) When creating a new diagram in a plot, the default is now to copy the horizontal range from the previous active diagram. This means that if you have zoomed horizontally, this zoom is kept in the new diagram (previously it was not, the default horizontal range of the previous active diagram was used). To go back to the previous handling, you can uncheck the new option Copy horizontal range for new subplots in the plot setup. The option is reached by the command Plot > Setup, the Options tab: Dymola 2018 FD01 Release Notes 31

32 The default setting corresponds to the new flag Advanced.AutoScaleSubPlot= true. The setting of number of result files to keep moved to simulation setup The setting how many result files to keep is moved from the plot setup to the simulation setup, the Output tab. 32

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34 3.3.6 Scripting New built-in function createtable A new built-in function createtable has been added. The function creates a table window with all settings, and corresponds to createplot for creating a plot window. createtable(id, position[4], x, y[:], heading, autoerase, autoreplot, filename, legends[size(y, 1)], timeunit, displayunits[size(y, 1)], showoriginal, showdifference, _window) The new built-in function is also available in the DymolaCommands library. Support for table windows in a number of built-in functions The built-in functions plot and plotwindowsetup have been improved to also handle table windows. For the latter, it means that a plottable function call is created if applied on a table window. New built-in function verifycompiler A new built-in function verifycompiler() has been added. It is also available in the DymolaCommands library. The function works the same as the button with the same name in the Compiler tab in the simulation setup menu; a small file is executed to test the selected compiler, true is returned if the test works, otherwise a message. This message is also added as last error that can be retrieved by the function getlasterror. Note that this built-in function is only available on Windows. New built-in function RequestOption A new built-in function RequestOption(option_name, license_date="") has been added. It is also available in the DymolaCommands library. The function has the Boolan output parameter license_valid that is set to true or false. The function tests if a certain option is valid a certain date. To check whether demo mode is used or not, RequestOption("Free")and RequestOption("Standard") can be used. Improved built-in function getlasterror and new built-in function getlasterrorlog The built-in function getlasterror() now also displays the number of errors, warnings, and messages reported in the translation log, as last parts of the output from the function. The previous content of getlasterror() (only the log message) is now in a new built-in function getlasterrorlog(). Note that this built-in function is not present in DymolaCommands. 34

35 Improved built-in functions exporticon and exportdiagram The built-in functions exporticon and exportdiagram for exporting images have been improved with a new argument: input String modeltoexport = "" "Model path. Empty means model active one."; This new argument makes it possible to export images of icon layer and diagram layer of other models than the presently active one. Improved built-in function translatemodelfmu The built-in function translatemodelfmu has been improved by adding the Integer input parameter includeimage that can be used to include an image in the FMU export. For more information, see Exporting model image with an FMU on page 39. Dymola 2018 FD01 Release Notes 35

36 3.3.7 Minor improvements Filtering available for plot dependencies This enables you to easily look only at upstream dependencies matching your regular expression. 36

37 3.4 Installation For the current list of hardware and software requirements, please see chapter Appendix Installation: Hardware and Software Requirements starting on page Dymola as a 32-bit application discontinued Dymola 2018 was the last version to support Dymola as a 32 bit application. Dymola 2018 FD01 and later versions are only available as 64-bit applications, on Windows and Linux. Note however that only the Dymola 32-bit application is discontinued, the executable dymosim.exe, for example, is still available as a 32-bit executable Installation on Windows For the full list of supported compilers, see Software requirements starting on page 64. Microsoft compilers Automatic installation of some Visual Studio redistributable packages The following Visual Studio Redistributable Packages are automatically installed: Microsoft Visual C Microsoft Visual C SP 1 Intel compilers The Intel Parallel Studio XE 2017 compiler is now also supported. The Visual Studio 2015 compiler is now also supported when selecting an Intel compiler. GCC compilers The GCC version 5.3 has now also been tested, for both 32-bit and 64-bit GCC Installation on Linux Platform support revised Dymola 2018 FD01 runs on opensuse 42.1, 64-bit, with gcc version 4.8.5, and compatible systems (see Any later version of gcc is typically compatible. In addition to gcc, the model C code generated by Dymola can also be compiled by clang. For details, see Supported Linux versions and compilers on page 66. Dymola 2018 FD01 Release Notes 37

38 3.5 Other Simulation Environments Dymola Matlab interface Compatibility The Dymola Simulink interface now supports Matlab releases from R2012a (ver. 7.14) up to R2017a (ver. 9.2). Only Visual Studio C++ compilers are supported to generate the DymolaBlock S-function. The LCC compiler is not supported Real-time simulation Compatibility dspace Dymola 2018 FD01 officially supports the DS1005, DS1006, MicroLabBox, and SCALEXIO systems for HIL applications. For these systems, Dymola 2018 FD01 generated code has been verified for compatibility with the following combinations of dspace and Matlab releases: dspace Release 7.3 with Matlab R2012a dspace Release 7.4 with Matlab R2012b dspace Release 2013-A with Matlab R2013a dspace Release 2013-B with Matlab R2013b dspace Release 2014-A with Matlab R2014a dspace Release 2014-B with Matlab R2014b dspace Release 2015-A with Matlab R2015a dspace Release 2015-B with Matlab R2015b dspace Release 2016-A with MatlabR2015b and R2016a dspace Release 2016-B with MatlabR2016a and R2016b dspace Release 2017-A with Matlab R2016a, R2016b, and R2017a The selection of supported dspace releases focuses on releases that introduce support for a new Matlab release and dspace releases that introduce a new version of a cross-compiler tool. In addition, Dymola always support the three latest dspace releases with the three latest Matlab releases. Although not officially supported, it is likely that other combinations should work as well. Note on dym_rti_build and dspace Release 2017-A The function rti_usrtrcmerge is no longer available in dspace Release 2017-A. As a consequence, it is required to run the standard rti_build function (with the CM command) after dym_rti_build to get your _usr.trc content added to the main.trc file. For example: >> dym_rti_build('mymodel', 'CM') >> rti_build('mymodel', 'Command', 'CM') 38

39 Compatibility Simulink Real-Time (formerly xpc Target) Compatibility with Simulink Real-Time has been verified for all Matlab releases that are supported by the Dymola Simulink interface, which means R2012a (xpc Target ver. 5.2) to R2017a (Simulink Real-Time ver. 6.6). Only Microsoft Visual C compilers have been tested Java, Python, and JavaScript Interface for Dymola New or improved built-in functions available A number of new and improved built-in functions are available in the interfaces. For more information, see the corresponding sections in Scripting starting on page 34. Arguments for selecting between 32-bit and 64-bit Dymola removed Since 32-bit Dymola is no longer distributed, the arguments for selection between 32-bit and 64-bit Dymola has been removed: For the Python interface, use64bit has been removed from the DymolaInterface() constructor. For the Java interface, use_64bit has been removed from the DymolaWrapper ::getinstance() methods. (For JavaScript interface Dymola must be started before using the interface, no argument for selection is present.) FMI Support in Dymola Unless otherwise stated, features are available both for FMI version 1.0 and version 2.0. FMU Export Exporting model image with an FMU In Dymola 2018 FD01 you can select to include a model image in the FMU export. The option is available in the export dialog of an FMU and in the corresponding built-in function to export an FMU. The export dialog, reached by e.g. Simulation > Setup, the FMI tab, looks now: Dymola 2018 FD01 Release Notes 39

40 The corresponding built-in function translatemodelfmu has a new Integer input parameter includeimage that can be set to 0, 1, or 2, meaning: 0 None (default); no image is included in the FMU export. 1 Icon, the icon of the model is included in the FMU export. 2 Diagram, the image of the diagram layer of the model is included in the FMU export. 40

41 The image is stored in the FMU resources with the name model.png. This actually means it can be exchanged with any image model.png. Improved support for optional FMI Export options The following optional FMI export options have been improved in Dymola 2018 FD01: canserializefmustate [FMI2]: Now supported for all cases except Co-simulation using Dymola solvers. providesdirectionalderivative [FMI2]: Now also fully supported for Co-simulation using Dymola solvers. caninterpolateinputs [FMI1, FMI2]: Now also fully supported for Co-simulation using Dymola solvers maxoutputderivativeorder [FMI1, FMI2]: Now fully supported for all cases. The max order is 1. FMU Import Using the exported model image when importing an FMU If the exported FMU includes an exported model image model.png, this image is used to represent the FMU when importing it. Below, the demo Coupled Clutches has been exported with the diagram layer as the model image. The result importing it and instantiating it is: Dymola 2018 FD01 Release Notes 41

42 3.6 Advanced Modelica Support External functions in other languages Java The Dymola native Java interface has been updated to support 64-bit Windows. It uses JDK 1.8.0_122. Note. This internal Java interface is for calling Java functions from Modelica, or Modelica functions from Java functions. It is not to be confused with the Java interface for Dymola that is available for accessing Dymola remotely. 42

43 3.7 Modelica Standard Library and Modelica Language Specification The current version of the Modelica Standard Library is version The current version of the Modelica Language Specification is 3.4. Note that the Modelica Standard Library is compliant with the Modelica Language Specification 3.4. (So this version of the Modelica Language Specification should be used for reference, and not the Modelica Language Specification 3.2, Revision 2.) 3.8 New libraries Below is a short description of new libraries. For a full description, please refer to the libraries documentation. The libraries are presented in alphabetical order. If not stated as free, the library is commercial ClaRaPlus Library Bundle The ClaRaPlus library bundle is used to model and simulate thermal power plants. The bundle consists of the following libraries: ClaRaPlus: The core library in the bundle. See below. TSMedia: A comprehensive substance property library which enables the user to use other media types (besides the ones available together with ClaRa) inside the components to model for example Organic Rankine Cycles. ClaRa_Grid: A library providing electrical components such as switches, consumer grid, transfer function based power plant model etc. FluidDissipation: A library providing basic heat transfer and pressure loss correlations. For more information, see below. ClaRaPlus Library The ClaRaPlus library is "the core" library in the ClaRaPlus library bundle. The library is based on the ClaRa library with additional components and subsystems providing added value for the user (for example, ready-to-use controllers, special heat exchangers and relevant subsystems like gas turbine units). Scope of application Coal fired power plants Gas turbine units Combined cycle power plants Heat recovery steam generators Dymola 2018 FD01 Release Notes 43

44 Cogeneration power plants Organic Rankine Cycles Grid emergency failures Island grid operation Additional ClaRaPlus Content: Subsystems Ready-to-use subsystems, e.g. gas turbine unit models. They allow to: widen the scope of investigations reduce modeling effort using predefined and preconfigured subsystem models Additional ClaRaPlus Content: Components Solids media data with temperature dependent heat capacity and heat conductivity Gas turbine combustion chamber Steam and gas turbine governors Cooling tower Additional ClaRaPlus Content: Additional Examples An example of an Organic Rankine Cycle with recuperation ClaRaPlus.Examples.ORC Gas turbine combined cycle with sudden consumer load change: ClaRaPlus.Examples.CCPowerPlantAndGrid ClaRa Grid Library This library provides means to model and simulate power grids to couple them to power plant models created with ClaRaPlus. The idea is to provide meaningful boundary conditions for thermal power plants in its technical surrounding. ClaRa_Grid provides realistic boundaries with respect to: electric power loads grid frequency island operation The library enables you to define realistic load and frequency curves for grid-side events design power controllers and frequency controllers simulate fall back to island grid (blackout) simulate consumer emergency shutdown simulate electric producer emergency shutdown Fluid Dissipation Library The library contains convective heat transfer and pressure loss functions written in Modelica. Generally the pressure loss calculations are based on incompressible fluids and total 44

45 pressure difference. For devices with non-changing cross sectional area, the calculated total pressure loss is equal to the static pressure difference. Geodetic pressure loss is not considered throughout the library (except for two-phase flow pipes). The functions supplied may be used separately. For the following applications functions are provided: Heat Transfer Channel: even gaps General: generic forced convection (e.g., Dittus and Boelter) Heat Exchanger: air-side heat transfer for fin and tube heat exchangers, 2-phase heat transfer for tube and shell heat exchangers, 1-phase heat transfer for tube bundle heat exchangers Helical Pipe: forced convection within helical pipe heat exchangers Plate: forced convection for even surfaces Straight Pipe: heat transfer in straight pipes Pressure Loss Bend: pressure drop for curved or edged bends Channel: pressure drop for channel flows Diffuser: pressure difference in diffusers General: generic pressure drop correlations Heat Exchanger: air-side pressure drop for fin and tube heat exchangers, pressure drop for corrugated plate heat exchangers Junction: pressure difference in junctions Nozzle: pressure drop in nozzles Orifice: pressure difference for a sudden change of hydraulic diameter Straight Pipe: pressure drop in straight pipes Valve: pressure drop of multiple valve types The library is licensed under the Modelica License 2 which means that it is free to use of its own Dassault Systems Library This library contains models used in more than one library from Dassault Systemes. Presently it is a prerequisite for the Cooling Library and the Hydrogen library. The library is opened automatically when opening any of these libraries Fluid Dynamics Library The Fluid Dynamics Library was developed within the European research project EuroSysLib-D and provides basic models to estimate the human comfort within an air- Dymola 2018 FD01 Release Notes 45

46 conditioned zone in form of mathematical criteria and also graphical visualizations. Furthermore zone models (e.g. for buildings) are established to apply the Fluid Dynamics Library for the design and optimization process of air conditioning systems for mobile and stationary applications Fluid Power Library The Fluid Power Library is dedicated to modeling and simulation of hydraulic systems. The library includes typical components, including valves, pumps, motors, cylinders, accumulators and piping. The icons are designed to match ISO standard schematics as closely as possible. Models from the library can be connected to other models using mechanical, electrical, fluid, or thermal connectors, to model complete systems. Applications include: Sizing of pumps, cylinders, and valves Control system development of hydraulically actuated systems Automotive braking, steering and transmission actuation Detailed spool valve modeling FTire Interface Library This library is free. The library enables interfacing Dymola with the FTire (Flexible Structure Tire Model) software from cosin scientific software Hydrogen Library The Hydrogen library is targeted at modeling and simulation of PEM fuel cell stacks and fuel cell systems using hydrogen and air. It may be used for pre-design, control strategy evaluation, or loss analysis. The library contains models for membranes and complete stacks as well as auxiliary components, e.g. compressors and valves. Due to the generic equivalent circuit approach, only the data sheet with a polarization curve is needed for the parameterization of the membrane models. A tutorial helps the user to adapt the stack templates to his/her fuel cell type. Applications: Estimate coolant temperature/mass flow rate requirements Estimate temperature dependencies of polarization curves Develop controllers to assure sufficient air or hydrogen flow at abrupt load changes to reduce membrane aging Conduct dynamic load cycle driven thermal analysis Testing Library With this library it is possible to build test cases, create reference results and run the tests all within Dymola. It allows detecting unwanted side effects on model changes in an early stage by running regular tests. The library contains multiple blocks for the continuous 46

47 comparison of signals to reference values and trajectories. Existing examples and test models can easily be converted to a test case by providing a reference and connecting the signals of interest to one of the various comparison blocks Vehicle Demos Library (Demo) The Vehicle Demos Library provides vehicle examples demonstrating the coupling of multiple commercial Modelica automotive libraries to produce detailed models suitable for different applications and types of analysis. The automotive libraries consist of: VeSyMA (Vehicle Systems Modeling and Analysis) is a suite of commercial Modelica libraries for the modeling of vehicles, including VeSyMA, VeSyMA - Engines, VeSyMA - Powertrains, VeSyMA - Suspensions. Electrified Powertrains Fluid Power 3.9 Updated libraries Below is a short description of updated libraries. For a full description, please refer to the libraries documentation Battery Library A new version 2.0 has been released. Some new features and improvements: New cell models The cell models are divided in separate models for cylindrical and prismatic cells. This results in a clearer model structure, especially for the thermal models. Separate heat ports for cylindrical and prismatic cells are introduced. The heat ports included in the cell heat ports are always active. This avoids invalid connections. The thermal models for the cells are reimplemented. Additional thermal models using static heat transfer in the pins are introduced and each thermal model is available with direct and material based parameterization. Inner/Outer concept is removed from the thermal and electrical models. Parameterization of the cell model is restructured: Only initialization, discretization and assertions are parameterized on top level. Thermal, electric and aging parameters are set in the respective submodel. New pack models Like the cell models the pack models are also divided in separate models for cylindrical and prismatic cells. Separate templates for scaled and discretized packs are introduced. Dymola 2018 FD01 Release Notes 47

48 Replaceable submodels for pack housings with ideal, static and dynamic heat transfer and direct and material based parameterization introduced. Reimplemented discretized pack models. The models are structured into three replaceable submodels: o CellConfiguration: Defines the used cell model and the electric and thermal connection of the cell pins. Most common connection patterns with or without cell connector models are available. o ThermalSeparation: Defines the heat transfer between the cells. Models with ideal, static and dynamic heat transfer and direct and material based parameterization are available. o Housing: Defines the thermal properties of the housing. Models with ideal, static and dynamic heat transfer and direct and material based parameterization are available. New Bus handling Adapters for writing and reading signals on and from the bus are introduced. This provides a user-friendly drag & drop workflow and is robust in case of changing names of bus-signals. Improved compatibility with ElectrifiedPowertrains. BMS SOC observer added to the observer block. Restrictor for the cell current added to the current restrictor model. Other features and improvements New and improved user guide. Improved Modelica compliance. The models in the library check in pedantic mode (Except some examples using the Command annotation) Cooling Library A new version 1.2 has been released. The Cooling library has been refactored and now uses components from the DassaultSystemes library, the new base library for Modelica libraries by Dassault Systèmes. The DassaultSystemes library is delivered together with the Cooling library Dymola Commands Library A new version 1.4 has been released. The updates reflect additions and changes of built-in functions described in, for example, Scripting starting on page

49 3.9.4 Electrified Powertrains Library A new version 1.2 has been released. Main new features Integration of the reliability package (aging) for semiconductors (power electronics) A new package has been introduced: PowerElectronics.Reliability. The lifetime consumption of semiconductors is based on an online Rainflow counting algorithm. Refer to the User's Guide to get more information. Here you will find a tutorial that explains the Rainflow counting algorithm. Refer to the Aging of Semiconductors tutorial to learn how to calculate the lifetime consumption of e.g. the electric drive's inverter. Other changes Compatibility Deleted predefined bus variables from the battery bus and renamed variable in bus adaptors to be compatible with Battery Library 2.0 Moved battery logic from the battery model to battery control unit in the vehicle control unit Functionality Added round function Added interface for dimensionless ratio (input and output) Human Comfort Library A new version has been released. It includes the updates of the CFD-based air model. The following content has been added: New use case partition models New surface submodels New separated ambient boundary model for linearized models New use case partition base classes New partition adapter New surface adaptor New examples New documentation Dymola 2018 FD01 Release Notes 49

50 3.9.6 HVAC (Heating, Ventilation, and Air Conditioning) Library A new version has been released: A new visualization component has been added (HVACLib.Components.Visualization.StatEnergyEvaluation), see example HVACLib.Examples.HeatDistributionSystem_Visualization. HVACLib.Components.Junctions.Mix.IdealMixer_supply: Change k_min value from 0 to This change may change the simulation results compared with previous versions Thermal Systems Library A new version has been released. New Components VLEFluid-Scroll-, VLEFluid-Reciprocating-Expander and an Expander Base Class for physically based Expanders to implement user-defined models. VLEFluid-Separator including a replaceable function for custom separation characteristics. Heat transfer correlation for the fin side of MPET heat exchangers: Park and Jacobi Improvements Improved numerical performance and robustness of several ThermalSystems models in particular for larger systems. All summaries moved from ThermalSystems models into separate packages to improve compatibility with different simulation environments. New default value and SI-unit for tube roughness in pressure drop model Swamee Jain. Improved documentation VeSyMA (Vehicle Systems Modeling and Analysis) Library A new version has been released. This release contains numerous enhancements and fixes in comparison to the previous release of VeSyMA. In addition, changes in the components in the Claytex Library which are described in the release notes for that library may also impact this library. 50

51 New features and Major Changes Powertrain Origin Standards The default Engine origin has been changed in VeSyMA to match the standard used in other libraries, to improve cross compatibility between libraries. The origin has moved from the flywheel end of the crankshaft to the front engine accessories end of the crankshaft. The orientation has remained the same, with the crankshaft remaining along the x axis and the flywheel being at the most positive x end of the engine. This has taken the form of moving the bearing in the EngineMaps interface to use flange_a rather than flange_b. The transmission has also had its origin reviewed against other libraries. This is confirmed to be at the engine input end of the gearset, at the flange where the clutch or torque converter meets the gearset. This may require modification to vehicle models to ensure that the powertrain components are in the correct positions. The engine requires offsetting along the re-orientated x-axis by the length of the engine and the automated manual transmissions need to be offset by the length of the clutch/torque converter. Multiple Motor Vehicle Templates and Drivelines To accommodate more electric vehicle types, two vehicle templates and the associated driveline templates have been added to create vehicles with multiple electric drive motors. The CarDualElectric vehicle template has two motors and the CarQuadElectric has four motors. To allow each motor to be controlled individually, the electric motor models have been modified to specify a motor number, using the new MotorBusControl4 block this allows numbered electricmotorbus and electricmotorcontrolbus to be added to the ControlBus for each motor number. Associated driveline templates for both dual and quad input vehicles, and example models have been created to allow multiple inputs. An example four wheel drive supermini vehicle example has been created as a demonstration of the implementation of a dual motor electric vehicle. Dymola 2018 FD01 Release Notes 51

52 Powertrain Centers of Gravity To have a more realistic default value the Centers of Gravity for the transmission models have been modified to be in half way between the input and output shafts for both the transmission and the engine. Engine Rev Limit A soft engine rev limit was added to the engine controller, allowing eventless, smooth engine rev limit to be used from the same revlimit block. The rev limit approach is selected using the hardlimit Boolean. The extra output is intended to be used to modify the throttle output, both outputs are always active but the unused output is held at a constant value (fuelcut=0 or throttlemodifier=1) when the logic is deactivated. 52

53 Driver Model Parameterization The driver parameterization has been improved, by propagating the parameters to a higher level and storing them in the driver profile replaceable record. This makes the control of the driver easier by allowing users to create their own records that can be used in multiple tests, while using the same driver model. This has been implemented in many of the driver components by propagating parameters in sub components for ones of the same/similar name at a higher level. This culminates at the top level with the driverprofile record that has been extended from the subcomponent records that contain their respective parameters. Each of the driver models have their own driverprofile record, from which users can extend and modify to allow their profile to appear in the driverprofile dropdown list. A full description of how the driver profile is used has been added to the Driver Models users guide. Dymola 2018 FD01 Release Notes 53

54 Other Changes Transmission DetectStopping - Default value for low speed threshold changed to 2m/s rather than 4 m/s to fix the dual clutch controller. Engine MappedEngine - To improve the initialization across all tests the initial speed of the engine is now dependent on the initial ignition position, if the ignition is off then the engine will start with zero speed. Controlled by a protected Boolean parameter startignition, the mappedpetrol and mappeddiesel are controlled by an initial equation requiring an ignitionon signal from the enginecontrolbus. HybridAutomatic and Manual Controllers - To reduce duplication the Hybrid Automatic has been extended from the Automatic Controller, this has all the same components while retaining the modifications. To ensure that soft throttle works on the Hybrid Automatic the Manual controller has been modified to have the hybridthrottlemodifier Boolean to control the minimum block that is activated if hybrid throttle modifier is required, else the modifier from the soft limit rev limiter output is routed into the throttle demand. 54

55 Wheels and Tires Modified to apply the effect of Mue to the calculation of longitudinal slip force in the linear tire forces model. Deleted unused and unnecessary wheel rig VeSyMA.Wheels.Experiments.Components.WheelRig. Conversion of user libraries Conversion scripts are used to automatically update user's models built using previous versions of the library to be compatible with this version. Any manual updates required will be described below. Users should check their models following an update to the libraries used VeSyMA Engines Library A new version has been released. VeSyMA - Engines is the new name for the Engines Library that has been available for several years. With this release it has been tightly integrated into the complete VeSyMA suite of libraries and features revised model architecture. New Features A Selective Catalyst Reduction unit model A Selective Catalyst Reduction unit model has been added to the library. An experiment has been created that shows how this device reduces the emissions of NOx. It is a rather simple model at the moment, but will be extended and be made part of an after treatment subpackage along with other devices in the future. Dymola 2018 FD01 Release Notes 55

56 Two new approaches for the modeling of turbochargers Two new approaches for the modeling of turbochargers have been added: A model of a turbocharger using unprocessed manufacturer map data in terms of corrected/non dimensional mass flow rate, pressure ratio and efficiency for each speed interval for both compressor and turbine. 56

57 A model of a turbocharger using a set of equations of ellipses that defines the compressor and turbine characteristics. Compressor: where a, b and z are function of the turbo speed: Dymola 2018 FD01 Release Notes 57

58 58 Turbine:

59 A three cylinder split engine model A three cylinder split engine model that splits into intake and exhaust system, combustion, mechanics and controller. The model consists of a three cylinder engine test on a dyno with integrated fixed temperature cooling system. The engine speed is torque controlled to a prescribed speed profile taken from a chassis dyno running the first 23s of the ECE15 test cycle. It does not support surrogate modeling but allows transporting the model by several FMUs into Simulink or other real-time applications. Dymola 2018 FD01 Release Notes 59

60 Modifications Controllers The parameter to set the air fuel ratio (afr) has been removed from the mean value fuelling module since it was not linked in the lower level subsystems. The afr now needs to be set in the table in the fuel injected block within the ECU. Events The number of state events in the heat release model has been reduced VeSyMA Powertrain Library A new version has been released. Examples of improvements and modifications: Top level modifier in PTDynamics.Transmission.Experiments.Examples.ManualShiftingTransmission for shifter position error tolerance applied to VeSyMA.DriverEnvironments.Components.ForceBasedShifting tolerance which now uses 1e-3 as a default value. Transmission.Losses.GearLosses has been revised to improve usage robustness when enabling/disabling heat transfer through the thermal ports VeSyMA Suspensions Library A new version has been released. This release of the VeSyMA - Suspensions library contains enhancements and fixes which are discussed below. In addition changes in the components in the Claytex Library and VeSyMA Library, which are described in the release notes for those libraries, may also impact the VeSyMA - Suspensions Library. 60

61 New Features and Major Changes Motion A Motion block has been added that includes a tether effect, allowing a given amount of freedom before force is applied to keep the vehicle from moving across the wheel pads in a rig experiment. This mimics a more realistic form of constraint, allowing limited freedom until the test becomes invalid. As such there is an option within the tether motion block that displays a warning in the simulation tab to indicate that the tether has been used and displays the time. This allows the states to be set within the vehicle rather than within the rig, allowing for easier confirmation of experiment verification. This has been coupled with an addition to the Claytex translational and rotational spring and damper list with a linear spring-damper with a dead zone, where there is no application of force until the displacement away from zero exceeds a chosen limit; this generates a similar effect to that of a cable, where the force is only applied when the cable is taught. By default, the rig experiments still used the 3DoF motion constraint with the option to change to the tether. FTire Integration A new addition to the Wheels and Tyres package is the integration of the external FTire models. This allows users to use high fidelity tire models external to Dymola with all the vehicle dynamic capabilities within the Suspensions and other VeSyMA libraries. There is a User Guide detailing the use of FTire models within the Suspensions library which require both the FTireInterface library and the external Cosin program. Dymola 2018 FD01 Release Notes 61

62 OpenCRG OpenCRG support has been added to allow road and driving line geometry to be read from an OpenCRG.crg file. An example, OpenCRGRoad, is available and describes the implementation. Quasi-static Experiment A quasi-static vehicle rig and controller have been created, an example quasi--static experiment can be found here. This allows the chassis and hubs to be driven in a quasi-static manner to solve for a non-static equilibrium state. The chassis yaw, pitch, roll, z position, drive torque, and steering angle are manipulated by integrators to eliminate the force/torque being applied to the system by the chassis constraint. This effectively drives the vehicle to an equilibrium state (if achievable) matching the speed and acceleration values input by the user. Other Changes Roads The velocity override parameter has been changed to a look-up table in the road models, IndependentDrivingLine and IndependentDrivelineFlat. The Boolean parameter voveride was also corrected to voverride. 62

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