Many control engineering tasks nowadays rely on the simulation of complex multi-physics systems. Modern tools allow to build the required dynamic models conveniently, thanks to Object-Oriented Modelling languages, e.g., Modelica, and to perform simulations with hardly any additional effort on the part of the analyst. However, when simulation speed is of concern, the same tools fall short of exploiting some useful properties of the model, namely -to focus on the subject of this work -the possibility of partitioning said model in "weakly" coupled submodels. This work proposes an automatic method to perform a structural analysis aimed at identifying weak couplings in the system, providing the information needed for the mentioned partition. This information is here used to feed a mixed-mode integration method, leading to a significant improvement in terms of simulation speed.
I. INTRODUCTIONModelling and simulation of complex physical systems have received increasing attention in the last years, in particular in the control domain. Even if the control design is usually based on simple models -most often a linearised one is sufficient -the controller should be validated on a more accurate description of the real plant.Moreover, several important control applications require to simulate accurate models in real time. Model reference adaptive controllers, for example, make use of a reference plant model as part of the online control law [1]. This requires the model to be simulated in real time in parallel with the plant, both being driven simultaneously by the same input signals.The main problem, however, is that simulating accurate models usually takes a lot of time and computational resources, which in some cases is, e.g., in real-time applications, is not acceptable. Therefore, finding a way to improve simulation efficiency is thus crucial and worth investigating. In this work, a novel method to improve simulation performance is presented.The paper is outlined as follows. Section II describes the related work, and specifies the scope of the paper. Section III presents a brief overview on classical integration methods used in real-time simulation. The proposed partitioning method is described in Section IV, while the mixed-mode integration method is described in Section VI. In Section VII the method is applied to some physical examples and the obtained results are discussed. Section VIII concludes the paper.