Towards a Standard-Conform, Platform-Generic and Feature-Rich Modelica Device Drivers Library

Thiele, Bernhard; Beutlich, Thomas; Waurich, Volker; Sjölund, Martin; Bellmann, Tobias

doi:10.3384/ecp17132713

Cited by 22 publications

(13 citation statements)

References 8 publications

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“…The model uses blocks for interfacing to hardware facilities of the Arduino Uno like ADC or PWM units. These hardware interface blocks are available in the Mod-elica_DeviceDrivers library (Thiele et al, 2017). The model assumes that a signal conditioning circuit is used for mapping the Hall effect sensor voltage around the op- erating point to the full-scale voltage range of the ADC.…”

Section: Real-time Target Codementioning

confidence: 99%

Controller Design for a Magnetic Levitation Kit using OpenModelica's Integration with the Julia Language

Thiele¹,

Lie

Sjölund

et al. 2019

Linköping Electronic Conference Proceedings

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This paper presents a practical application of computer aided control systems design using a new OpenModelica API (OMJulia) which allows to conveniently operate on Modelica models from the Julia language. Julia is a rather young language (Julia 1.0 was released in August 2018) designed to address the needs of numerical analysis and computational science, in particular it already has decent support for the control community. The magnetic levitation application at hand demonstrates how control system design can benefit from a suitable integration between Julia and Modelica. It is based on a commercially available control education kit in which the original controller is replaced by our own digital controller developed in this work. There exists an accompanying but independent paper which introduces the complete OMJulia API.

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Section: Real-time Target Codementioning

confidence: 99%

Controller Design for a Magnetic Levitation Kit using OpenModelica's Integration with the Julia Language

Thiele¹,

Lie

Sjölund

et al. 2019

Linköping Electronic Conference Proceedings

Self Cite

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“…Further improvement can be done by porting this integration to rely on FMI/FMU functionality, instead of C functions and sockets. As noted by a reviewer, there exists another library for providing TCP/IP connections from Modelica via external C-functions, named the Modelica_DeviceDrivers library (Thiele, 2017). The ROS integration in this paper was developed separately from Modelica_DeviceDrivers, though both rely on TCP/IP communications.…”

Section: Library Improvementsmentioning

confidence: 99%

Developing a Framework for Modeling Underwater Vehicles in Modelica

Swaminathan

Saripalli

2019

Linköping Electronic Conference Proceedings

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When developing Remotely Operated Vehicles (ROVs), models prove extremely useful in determining design parameters and control strategies. This paper's goal is to develop a modeling framework for underwater ROVs in Modelica, with integration with the Robotic Operating System (ROS), allowing for quicker prototyping and testing of ROV design and control.Named the Underwater Rigid Body Library (URBL), the modeling framework treats the effect of water on submerged bodies as interactions with a "field" of water to capture the effects of buoyancy and drag. Its usage is demonstrated by applying it to the BlueROV2, a commercially available ROV from Blue Robotics. Using controller signals to the propellers as system inputs, the model was tested with various motor command profiles to achieve different composite motions. Constant motor commands were provided both from within Modelica and from ROS; the simulation results indicated that the model responded appropriately.The modeling framework is developed as the Underwater Rigid Body Library (URBL)the library contains the base functional components to any ROV design. The URBL consists of two major sectionscomponents and interfaces for modeling underwater vehicles, and an external interface to ROS. The URBL components are models to describe rigid body interactions with water; the interface is for a basic propeller.

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“…Variable feedback from the aircraft to the planners however needs to be at a tighter sampling interval, which is why a UDP connection has been set up to model the downlink 8 . For this task, the Modelica DeviceDrivers library [32] was employed in Modelica and C++ (see Figure 15). As of now, all modules are developed and run on standard personal computers, which are different from systems that are used for onboard avionics and possibly ground control stations.…”

Section: Interfacing and Performancementioning

confidence: 99%

Multiphysical simulation of a semi-autonomous solar powered high altitude pseudo-satellite

Müller

Kiam

Mothes

2018

2018 IEEE Aerospace Conference

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With advances made in the fields of energy generation from renewable sources, airborne electrical propulsion, and autonomous system operation, much activity has been directed towards the development of so called high altitude pseudo satellites (HAPS) in recent years, with Zephyr (Airbus) and Aquila (Facebook) as prominent examples. Compared to classical orbital satellites, these are designed to require lower deployment costs and to offer a high flexibility in operational tasks and a long mission endurance. In the project StraVARIA, the goal was to develop a high-fidelity multiphysical simulation of such a HAPS, including a long-term mission planner, a reactive guidance system for weather avoidance, a flight control system with protections, a 6-DoF model with solar-electric propulsion system, and a comprehensive environment simulation with 4-D wind and turbulence. Due to the long mission duration, the mission planner and guidance system offer an increased autonomy level compared to standard operator controlled UAVs, however human input is still required for high level planning. The acausal and object-oriented modeling language Modelica has been used to create the integrated simulation model, enabling a modular and detailed modeling approach. By automatic code generation and optimization, simulation efficiency is improved, which is an important factor when considering long-term missions. Results of the integrated simulation show that missions like area surveillance and communication relay are possible whenever adverse weather conditions can be avoided. Ascending to and descending from mission altitude of approximately 18 km also poses a threat to the lightweight HAPS construction since layers of stronger winds and atmospheric disturbance have to be passed. To this end, simulated example missions over Bavaria are presented showcasing these effects, where mission success is ensured by means of the long term mission planner, the reactive guidance, and the inner-level protections implemented in the flight control system.

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Towards a Standard-Conform, Platform-Generic and Feature-Rich Modelica Device Drivers Library

Cited by 22 publications

References 8 publications

Controller Design for a Magnetic Levitation Kit using OpenModelica's Integration with the Julia Language

Controller Design for a Magnetic Levitation Kit using OpenModelica's Integration with the Julia Language

Developing a Framework for Modeling Underwater Vehicles in Modelica

Multiphysical simulation of a semi-autonomous solar powered high altitude pseudo-satellite

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