MetaModelica A Unified Equation-Based emantical and Mathematical Modeling Language Adrian Pop and Peter Fritzson Programming Environment Laboratory Department of Computer and Information cience Linköping University 2006-09-14 JMLC 2006, eptember 13-15, Oxford, UK
Outline Modelica Introduction Language properties Example MetaModelica Motivation MetaModelica extensions to Modelica Example Future Work Conclusions 2
Modelica General Formalism to Model Complex ystems Robotics Automotive Aircrafts atellites Biomechanics Power plants Hardware-in-the-loop, real-time simulation etc 3
Modelica The Next Generation Modeling Language Declarative language Equations and mathematical functions allow acausal modeling, high level specification, increased correctness Multi-domain modeling Combine electrical, mechanical, thermodynamic, hydraulic, biological, control, event, real-time, etc... Everything is a class trongly typed object-oriented language with a general class concept, Java & Matlab like syntax Visual component programming Hierarchical system architecture capabilities Efficient, nonproprietary Efficiency comparable to C; advanced equation compilation, e.g. 300 000 equations 4
Declarative and Object-Oriented Modelica Language Properties Equation-based; continuous and discrete equations Parallel process modeling of concurrent applications, according to synchronous data flow principle Functions with algorithms without global side-effects (but local data updates allowed) Type system inspired by Abadi/Cardelli (Theory of Objects) Everything is a class Real, Integer, models, functions, packages, parameterized classes... 5
Modelica Background The Form - Equations Equations were used in the third millenium B.C. Equality sign was introduced by Robert Recorde in 1557 Newton (Principia, vol. 1, 1686) still wrote text: The change of motion is proportional to the motive force impressed;... d dt ( m v) = Fi CL (1967) introduced special form of equation : variable = expression v = INTEG(F) / m Programming languages usually do not allow equations 6
Modelica Acausal Modeling emantics What is acausal modeling/design? Why does it increase reuse? The acausality makes Modelica classes more reusable than traditional classes containing assignment statements where the input-output causality is fixed. Example: a resistor equation: R*i = v; can be used in three ways: i := v/r; v := R*i; R := v/i; 7
Modelica - Reusable Class Libraries Info R= C= L= G Info bar= body= bodybar= AC= DC= Info Vs shaft= shaft3d= Is shaft3d= gear2= shaft= inertial cylbody=bodyhape= rev= prism= screw = cyl= D T - + diff= Op V gear1= i planet= planetary= ring= univ planar= sphere free rev= prism= : 1 bearing sun= fixtooth cyl= univ planar= sphere free E move move screw = c= d= barc= y spherec c= d= cer= torque fric= C x barc2= C frictab clutch= converter r force torque lineforce= linetorque= sensor lineensor s sd w a t fixedbase advanced Library drive Library translation Library state 8
Graphical Modeling - Drag and Drop Composition 9
Hierarchical Composition Diagram for a Model of a Robot k2 i qddref qdref 1 qref 1 k1 i r3control r3motor r3drive1 1 cut joint qd tn axis6 axis5 l qdref Kd 0.03 rel qref pum - Kv 0.3 sum +1 +1 wum - rate2 b(s) a(s) rate3 340.8 iref Jmotor=J spring=c fric=rv0 gear=i joint=0 axis4 axis3 rate1 tacho2 tacho1 b(s) a(s) b(s) a(s) PT1 g5 axis2 q Rd2=100 Vs qd Rd3=100 hall2 g2 Rd1=100 - + diff Ri=10 qd Rp2=50 C=0.004*D/w m Rp1=200 - + pow er - rel = n*n' + (identity(3) - n*n')*cos(q) - skew(n)*sin(q); + wrela = n*qd; OpI zrela = n*qdd; Rd4=100 b = a*rel'; emf r0b = r0a; g3 vb = rel*va; g1 wb = rel*(wa + wrela); ab = rel*aa; zb = rel*(za + zrela + cross(wa, wrela)); fa = rel'*fb; ta = rel'*tb; hall1 g4 w Ra=250 La=(250/(2*D*w m)) q r axis1 y x inertial 10
Multi-Domain Modelica Model - DCMotor A DC motor can be thought of as an electrical circuit which also contains an electromechanical component. model DCMotor Resistor R(R=100); Inductor L(L=100); VsourceDC DC(f=10); Ground G; ElectroMechanicalElement EM(k=10,J=10, b=2); Inertia load; equation R connect(dc.p,r.n); connect(r.p,l.n); DC connect(l.p, EM.n); connect(em.p, DC.n); connect(dc.n,g.p); connect(em.flange,load.flange); G end DCMotor L EM load 11
Modelica compilation stages Modelica ource Code Modelica model Translator Flat model Analyzer Topologically sorted equations Optimizer Code Generator Optimized sorted equations C code C Compiler Executable imulation 12
Corresponding DCMotor Model Equations The following equations are automatically derived from the Modelica model: (load component not included) 13
Connector Classes, Components and Connections connector Pin Voltage v; flow Current i; end Pin; Keyword flow indicates that currents of connected pins sums to zero. Connection between Pin1 and Pin2 A connect statement in Modelica connect(pin1,pin2) corresponds to Pin1.v = Pin2.v Pin1.i + Pin2.i = 0 14
Common Component tructure as uperclass model TwoPin uperclass of elements with two electrical pins Pin p,n; Voltage v; Current i; equation v = p.v n.v; 0 = p.i + n.i; i = p.i; end TwoPin; 15
Electrical Components Reuse TwoPin uperclass model Resistor Ideal electrical resistor extends TwoPin; parameter Real R Resistance ; equation R*i = u end Resistor; model Inductor Ideal electrical inductor extends TwoPin; parameter Real L Inductance ; equation L*der(i) = u end Inductor; 16
Corresponding DCMotor Model Equations The following equations are automatically derived from the Modelica model: (load component not included) 17
MetaModelica - Context yntax - there are many efficient parser generator tools lex (flex), yacc (bison), ANTLR, Coco, etc. emantics: there are no standard efficient and easy to use compiler-compiler tools 18
MetaModelica - Motivation Can we adapt the Modelica equation-based style to define semantics of programming languages? Answer: Yes! MetaModelica is just a part of the answer executable language specification based on a model (abstract syntax tree) semantic functions over the model elaboration and typechecking translation meta-programming transformation etc. Further improvement more reuse of language specification parts when building specifications for a new language (Future Work) 19
MetaModelica - Idea We started from The Relational Meta-Language (RML) A system for building executable natural semantics specifications Used to specify Java, Pascal-subset, C-subset, Mini-ML, etc. The OpenModelica compiler for Modelica specified in RML Idea: integrate RML meta-modeling and metaprogramming facilities within OpenModelica by extending the Modelica language. The notion of equation is used as the unifying feature Now we have The MetaModelica language The Modelica executable language specification (OpenModelica compiler) in MetaModelica (~114232 lines of code) Meta-programming facilities for Modelica 20
MetaModelica extensions to Modelica (I) Modelica classes, models, records, functions, packages behaviour is defined by equations or/and functions equations differential equations algebraic equations partial differential equations difference equations conditional equations MetaModelica extensions local equations pattern equations match expressions lists, tuples, option and uniontypes 21
MetaModelica extensions to Modelica (II) pattern equations unbound variables get their value by unification Env.BOOLVAL(x,y) = eval_something(env, e); match expressions pattern matching case rules pattern := match expression optional-local-declarations case pattern-expression opt-local-declarations optional-local-equations then value-expression; case...... else optional-local-declarations optional-local-equations then value-expression; end match; 22
MetaModelica Example (I) package ExpressionEvaluator // abstract syntax declarations... // semantic functions... end ExpressionEvaluator; 23
MetaModelica Example (II) package ExpressionEvaluator PLU // abstract syntax declarations uniontype Exp record RCONT Real x1; end RCONT; 12 record PLU Exp x1; Exp x2; end PLU; record UB Exp x1; Exp x2; end UB; record MUL Exp x1; Exp x2; end MUL; record DIV Exp x1; Exp x2; end DIV; record NEG Exp x1; end NEG; end Exp; // semantic functions... end ExpressionEvaluator; RCONT RCONT 5 MUL RCONT 13 Expression: 12+5*13 Representation: PLU( RCONT(12), MUL( RCONT(5), RCONT(13) ) ) 24
MetaModelica Example (III) package ExpressionEvaluator // abstract syntax declarations... // semantic functions function eval input Exp in_exp; output Real out_real; algorithm out_real := match in_exp local Real v1,v2,v3; Exp e1,e2; case RCONT(v1) then v1; case ADD(e1,e2) equation v1 = eval(e1); v2 = eval(e2); v3 = v1 + v2; then v3; case UB(e1,e2) equation v1 = eval(e1); v2 = eval(e2); v3 = v1 - v2; then v3; case MUL(e1,e2) equation v1 = eval(e1); v2 = eval(e2); v3 = v1 * v2; then v3; case DIV(e1,e2) equation v1 = eval(e1); v2 = eval(e2); v3 = v1 / v2; then v3; case NEG(e1) equation v1 = eval(e1); v2 = -v1; then v2; end match; end eval; end ExpressionEvaluator; 25
Modelica/MetaModelica Development Tooling (MDT) upports textual editing of Modelica/MetaModelica code as an Eclipse plugin Was created to ease the development of the OpenModelica development (114232 lines of code) and to support advanced Modelica library development It has most of the functionality expected from a Development Environment code browsing code assistance code indentation code highlighting error detection automated build of Modelica/MetaModelica projects debugging 26
Modelica/MetaModelica Development Tooling Code Assistance on function calling. 27
Conclusions and Future Work MetaModelica a language that integrates modeling of physical systems programming language semantics at the equation level MetaModelica is a step towards reusable libraries of specifications for programming language semantics Future Work How do devise a suitable component model for the specification of a programming language semantics in terms of reusable components. Tools to support such language modeling. 28
End Thank you! Questions? http://www.ida.liu.se/labs/pelab/rml http://www.ida.liu.se/labs/pelab/modelica/openmodelica.html 29