Towards Unified Modeling with Modelica and

UML/SysML in the OpenModelica Environment

Presentation at MODPROD'2007
Link
Linkping University
2007-
2007-02-
02-07

Peter Fritzson

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Examples of Complex Products

Robotics
Automotive
Aircraft
Mobile Phone Systems
Business Software
Power plants
Heavy Vehicles
Process industry

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 Vision of Integrated
Model-Based Product Development

Model-based product development

Process technology Model-Based Optimization
Design and of Production
Requirements Optimization
Strategic
Business Management
Control Automated Model-Based
Code SoftwareTesting
Generation

Economic Requirements Product Production

models models models models

Unified Modeling Technology: Meta-modeling, UML, Modelica, XML ...

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ECLIPSE as Integration Platform

OpenUP/Basic Capacity
CapacitySub-
Sub- UML-Modelica
OpenUP/Basic UML-Modelica
Process
ProcessAreas
Areas Plug-in OpenModelica
OpenModelica
Plug-in
MDT
MDT
ECLIPSE Process Framework (EPF)
Composer Specific components

Graphical Modeling Framework

ECLIPSE Modeling Framework

ECLIPSE Rich Client Platform (RCP) Runtime

Java C/C++ OpenModelica MetaModelica

runtime runtime runtime runtime

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 Modelica Background

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Stored Knowledge
Model knowledge is stored in books and human
minds which computers cannot access

The change of motion is proportional

to the motive force impressed
Newton

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 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
Strongly typed object-oriented language with a general class
concept, Java & MATLAB-like syntax
Visual component programming
Hierarchical system architecture capabilities
Efficient, non-proprietary
Efficiency comparable to C; advanced equation compilation,
e.g. 300 000 equations, ~150 000 lines on standard PC

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Multi-Domain
Modelica Class Libraries for Reuse, Visual View
R= C= L=
body= bodyBar=
bar=
Info G Info
shaft3DS= shaft3D= shaftS= inertial

Info S S cylBody=bodyShape= cylS=

AC=

DC=

Vs

S S
Is

S S
shaft= S
gear2= revS= prismS= screw S=

univS planarS= sphereS

- gear1= freeS
planet= planetary= S
+ diff= V i ring= S S S
D T Op rev= prism=

sun= cyl= univ planar= sphere

:1 bearing fixTooth free

S
E screw =
moveS move

barC= y sphereC c= d= cSer=

c= d=

torque x C
C barC2=
fric=

force lineForce= sensor

lineSensor
r
fricTab clutch= torque lineTorque= s sd
converter

advanced drive translation

w a t
fixedBase Library Library Library

S
state

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 Application Example Industry Robot
k2

i
axis6
qddRef cut joint
qdRef
1
qRef
1
k1 r3Control
r3Motor r3Drive1 tn
i 1
S S
qd axis5

qdRef Kd
S
0.03 rel

Jmotor=J joint=0
spring=c axis4
S
qRef pSum Kv sum w Sum rate2 rate3 iRef gear=i

fric=Rv0
+1 b(s) 340.8
0.3
- +1 - a(s) S

axis3

rate1 tacho2 tacho1

b(s) b(s)
PT1
a(s) a(s)
axis2
g5

q
qd

Rp2=50

Ra=250 La=(250/(2*D*wm))
Rd1=100
C=0.004*D/w m Rp1=200 axis1

Rd2=100
Ri=10
- -
-
+ +
diff + pow er
OpI
Vs

Rd4=100
Srel = n*transpose(n)+(identity(3)- n*transpose(n))*cos(q)- emf
skew(n)*sin(q); y
Rd3=100

x
g3
wrela = n*qd; inertial
zrela = n*qdd; g1

Sb = Sa*transpose(Srel);
hall2

r0b = r0a; hall1 w r

vb = Srel*va;
wb = Srel*(wa + wrela);
ab = Srel*aa;
g2 qd
g4
q
zb = Srel*(za + zrela + cross(wa, wrela));

Courtesy of Martin Otter and Hiilding Elmqvist

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Graphical Modeling Using Drag and Drop

(e.g. DCMotor as below)

Courtesy MathCore
Engineering AB

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 Multi-Domain (Electro-Mechanical) Modelica DCMotor Model
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 L
connect(DC.p,R.n);
EM
connect(R.p,L.n); DC
connect(L.p, EM.n);
connect(EM.p, DC.n); load
connect(DC.n,G.p);
connect(EM.flange,load.flange);
G
end DCMotor

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Corresponding DCMotor Model Equations

The following equations are automatically derived from the Modelica model:

(load component not included)

Automatic transformation to ODE or DAE for simulation:

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 The OpenModelica Environment

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OpenModelica

Goal: comprehensive Modelica modeling and

simulation environment for research, teaching,
and industrial usage
Free, open-source, for academic and
commercial use
Berkley New BSD open source license
The OpenModelica compiler (OMC) in an
extended subset of Modelica

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 OpenModelica Environment Architecture

Eclipse Plugin Graphical Model

Editor/Browser Editor/Browser

Interactive
Emacs session handler Textual
Editor/Browser Model Editor

DrModelica
OMNoteBook Execution Modelica
Model Editor Compiler

Modelica
Debugger

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OpenModelica Client-Server Architecture

Parse
Client: Graphic
Model Editor
Server: Main Program
Corba
Including Compiler,
Interpreter, etc. Client: OMShell
Interactive
Session Handler

SCode Interactive
Client: Eclipse
Untyped API
Plugin MDT
Inst
Typed Checked Command API
system
plot
Ceval
etc.

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 OpenModelica MDT Eclipse Plugin
Browsing of packages, classes, functions
Automatic building of executables;
separate compilation
Syntax highlighting
Code completion,
Code query support for developers
Automatic Indentation
Debugger

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OpenModelica Eclipse Plugin Usage Example

Code Assistance on
function calling.

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 ModelicaML
UML Profile for Modelica

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ModelicaML UML Profile for Modelica

Extension of SysML subset

Features:
Supports Modelica constructs
Modelica generic class modeling
Modelica syntax in definitions
Equation-based modeling
Simulation modeling

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 UML
UML - specification of Object Management
Group (OMG)
Graphical modeling standard for software
specification
Widely used in software world
Categories: structure, behavior and interaction
Thirteen types of diagram
UML 2.0 - latest standard
Extension with UML Profiles

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SysML
Extension of UML 2.0
Visual modeling language for system engineering
Unifies several modeling languages used by system
engineers
Adopted by OMG in May 2006
Goal:
Support specification, analysis, design, verification and validation of
broad range of systems that include hardware, software, data,
personnel, procedures and facilities
Diagram interchange capability included

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 SysML Diagrams

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ModelicaML UML Profile for Modelica

Implementation in Eclipse
Eclipse utilized for prototype implementation
Universal platform for development tools integration
Based on plugin-in architecture
Implemented in Java language
Java Development Tools (JDT) - popular Java
Development Environment
Utilized Eclipse frameworks for ModelicaML
EMF - Eclipse Modeling Framework
GEF - Graphical Editing Framework
GMF - Graphical Modeling Framework
UML2 UML model implementation

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 ModelicaML Diagrams Overview

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ModelicaML Class Internal Diagram

Modelica Connection Class Internal diagram

diagram Nested models
Better visual comprehension Top-model parameters and
Predefined connector variables
locations Flow direction
Other ModelicaML elements

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 Modelica Class Internal Diagram
Example 1

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Modelica Class Internal Diagram

Example 2

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 ModelicaML Class Internal Diagram
Structure diagram
Describes the internal structure in terms of parts
and connectors
Based on SysML Block Internal Diagram
Similar to Modelica connection diagram
Some SysML constructs not supported or
replaced by Modelica counterparts (i.e. Standard
Ports, FlowSpecification, etc.)

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ModelicaML Class Diagram

Example 1

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 ModelicaML Class Diagram
Example 2

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ModelicaML Class Diagram

Structure diagram
Shows class definitions and their relationships
Support all Modelica restricted classes
Based on SysML Block Definition Diagram
Modelica Class definitions can be linked with
other elements like Requirements, Activities,
Equation blocks, etc.

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 Package diagram
Package hierarchy and inheritance example

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Equations Diagram
Example 1

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 Requirements Diagram

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Requirements Diagram
Introduced by SysML
Supports requirements specification
Graphical, tabular or tree formats
A Requirement can appear on other diagrams
Requirement relationships:
Containment
Derive
Satisfy
Verify
Refine
Trace

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 Simulation Diagram
Introduced by ModelicaML

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Other Diagrams
Reused from SysML
Structure
Parametric diagram

Behavior
Activity diagram
Sequence diagram
State Machine diagram
Use Case diagram

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 ModelicaML Diagrams Summary

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Conclusion & Future work ModelicaML

Conclusion
UML profile for Modelica designed
All Modelica language constructs supported
SysML-to-ModelicaML conversion considered
Prototype of Class diagrams implemented

Future work
ModelicaML diagrams implementation
Code generation/synchronization from ModelicaML models
Modelica code/library to ModelicaML model

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 Questions?

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