www.thalesgroup.com

OMG: Transformation

Research & Technology

OMG: Transformation

SysML4Modelica &

simulationsL. RIOUX

Thales Research & Technology

2 /2 /

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Agenda

SysML 4 MODELICA: (OMG)

� Modelica

� OMG standard: SysML4Modelica transformation

Co-simulation: SysML & Simulink

� Simulink

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� Simulink

� Co-simulation SysML/Simulink with Cosimate (IBM).

Conclusions

3 /3 /

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D

D

Using SysML to Federate Models

DD

DD

D

D

DD

Model Object

D Model Dependency

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D

DD

DD

DDD

D

D

D

D

DD

D

D

DD

D

D

System Model

4 /4 /

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Using SysML to Federate Models

D

D

DD

DD

D

D

SysMLProfile

A

ProfileB

D

D

DD

Domain ATool B

Model Object

D Model Dependency

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D

DD

DD

D

D

D DD

D

D

DD

D

D

SysMLA

ProfileC

Profile D

Tool D

Domain C

System Model

5 /5 /

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Equations simulation with SysML

ModelSysML

ModelSimulink

3rd party(time

synchronisation)

1- Co-simulation

ModelSysML

ModelSimulinkCode

Generation2- Code generation

Simulator SysML Simulator Simulink

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C/C/

C++ C/C/

C++

Generation2- Code generation

3- Full Integration

(SysML Centric)

ModelSysML

+ Modelica

SimulationModelica

6 /6 /

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Related worksReichmann et al. (2004),Telelogic Rhapsody®

Hoomanet al. (2004)A

ATEGO – ACE (2009)

IBM-Cosimate(2010)

C. Nytsch-Geusen(2007), A. Pop et al., (2007),

T. A. Johnson et al., (2008)

ModelicaML (2009)

SysML4Modelica(OMG 2010)

coupling of SysML and simulation tools

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Coupling method

Code Generation

Co-simulation of Simulink and Rose® RT

Co-simulation of Simulink / SysMLexecution

Full integrationConversion to Modelica

Simulation time management

By independent module (Rhapsody)

By Simulink

By independent module (Cosimate)

By Modelica

7 /7 /

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System simulation with SysML

Modelica language

(www.modelica.org)

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(www.modelica.org)

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What is Modelica? (www.modelica.org)

State-of-the-art Modeling Language for System Dynamics

� Differential Algebraic Equations (DAE)

� Discrete Events

� Represents DAE models in an object-oriented, engine ering-oriented language

� Multi -(physical) -domain modeling

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� Multi -(physical) -domain modeling

� Permit non-causal modeling

� High level Specification

Declarative Language

� With equations and mathematical functions

� Ports represent energy flow (undirected) orsignal flow (directed)

� A causal, equation-based, declarative (f-m*a=0)

9 /9 /

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Example: detailed vehicle model

• Hydraulics

• Drive trains (1-dim. mechanics)

• Vehicle dynamics (3-dim. mechanics)

courtesy: Modelon AB

• Air Conditioning

• Combustion

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• Control (Input/output blocks, ...)

• Hierarchical state machines

• Air Conditioning(Thermofluid systems)

courtesy Modelon AB

• Electrical/electronic systems

• Electrical machines

10 /10 /

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Modelica example

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class LowPassFilterparameter Real T=1;Real u, y(start=1);equation

T*der(y) + y = u;end LowPassFilter;

algorithmy := 0;xpower := 1;

for i in 1:n+1 loopy := y + a[i]*xpower;xpower := xpower*x;

end for;

11 /11 /

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System simulation with SysML

Full Integration

SysML & Modelica:

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SysML4Modelica

(standard OMG)

Version 1.0: march 2012

12 /12 /

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SySML vs Mathematical Languages

SYSML

� Language for architectural system design

� Contain Structure and Control Concepts

� Control: Dataflow (IDB) and Events control (inherits from UML)

� No Equation language

� Compliant with MDA standard approach

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Mathematical Languages

� Matlab / modelica

� Clearly competitors: same usage domain with some differencies

� Simulink / SysML4Modelica

� Proprietarory language - Standard Graphical language

13 /13 /

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SysML-Modelica Transformation

Two complementary languages for Systems Engineering:

� Descriptive modeling in SysML

� Formal equation-based modeling foranalyses and trade studies in Modelica

Objective:

� Leverage the strengths of both SysML and Modelica by integrating

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� Leverage the strengths of both SysML and Modelica by integrating them to create a more expressive and formal MBSE la nguage.

� Extend only the structural part of the SysML Languages

� Add Modelica semantics to SysML (with stereotype)

� Define a formal Transformation Specification:� a SysML4Modelica profile

� a Modelica abstract syntax metamodel

� a mapping between Modelica and the profile

14 /14 /

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SysML-Modelica Robot Example:Robot Domain BDD & IBD

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15 /15 /

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SysML-Modelica Robot Example:Robot BDD & IBD

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Presentation for the INCOSE Symposium 2010 Chicago, IL USA

16 /16 /

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Drag and drop intoIBD «ModelicaModel»

SysML4Modelica Analytical Model: Compose Model from

Standard Library

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17 /17 /

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SysML4Modelica Analytical Model:Detailed IBD

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18 /18 /

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SysML4Modelica Analytical Model:Detailed IBD

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19 /19 /

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SysML4Modelica Analytical Model:Relation to Modelica Native Model

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20 /20 /

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Reference implementation:Based on OMG QVT

Modelica abstract

XMI(SysML4

conforms toSysML+

SysML4Modelicametamodel

SysML Tool

XMI(Modelica)

conforms toModelica

metamodel

Standard Formal Mapping Between SysML4Modelica To

Modelica

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syntaxModelica)Tool

Modelica.mo file

Tool-Specific Repository

QVT(normative)

(Modelica)

OMC

QVT = Query / View / Transformation

21 /21 /

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Example: Industrial Robots

model Resistorextends OnePort;parameter Real R;

equation

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1000 non-trivial algebraic equations, 80 states.Faster as real-time on slow PC.

equationv = R*i;

end Resistor;

22 /22 /

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SysML-Modelica Robot Example:An Analysis Context

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SysML-Modelica Robot Example:Dependencies between Models

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SysML-Modelica Robot Example:Dependencies between Models

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(OMG) Model Transformations in MBSE:Descriptive to Analytical Transformation

SysMLDescriptive

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DescriptiveModels

CorrespondenceModels

AnalyticalModels

SysML4ModelicaAnalytical

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SysML

SysML

(OMG) Model Transformations in MBSE:Architecture Exploration

Problem Definition

Generate

SysMLAlgebraic Models

Generate Architecture

ComponentsSysML

SysML Model exchanged in XMIMagicDraw SysML Editor

GAMS SolverTransformation Engine

Topology Analysis

GAMS

Variable FidelityModel Selection

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SysML

GenerateAlgebraic Design

Problem

GenerateDynamic Design

Problem

SysMLDynamic Models

Problem Formulation Problem Solution

Dynamic Analysis

Uncertainty Quantification

Mixed-IntegNonlin Solver

Algebraic Analysis

OptimizationSolver

Monte Carlo + KrigingDesign Explorer Modelica

GAMS

GAMS: General Algebraic Modeling Systemhttp://wwww.gams.com

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SysML4Modelica

� Leverage the strengths of both SysML and Modelica by integrating them to create a more expressive and formal MBSE la nguage.

Descriptive Modeling in SysML

+

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+

Formal Equation-Based Modeling forAnalyses and Trade Studies in Modelica

http://www.omg.org/spec/SyM/

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Summary SysML 4 Modelica

Approach adopted by:

� ATEGO (product Artisan)

� Parasolver (Sysml/Modelica)

� No Magic (Magicdraw plug-ins: Cameo simulation)

� Prototype already available

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ModelicaML (UML profile for Modelica) – EADS IW (Uk)

� Extension UML Behavior for modelica (state-machine and activity diagrams)

� Will extend SysML4Modelica

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co-simulation

Another appraoch

SysML & Matlab/Simulink

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SysML & Matlab/Simulink

Co-simulation

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Simulink

Simulink is the graphical notation of

Matlab language

Simulink uses Block Diagram

� Block diagram describes the flow of signal between blocks, which process the signal

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between blocks, which process the signal

� This example calculates:

∫=t

dftf0 In1Out1 )(2)( ττ

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SIMULINK Details

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32 /32 /

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Co-Simulation: IBM solution

Co-Simulation

SysML / Simulink

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SysML / Simulink

RSA – Cosimate - Simulink

ModelSysML

ModelSimulink

3rd party(time

synchronisation)

Simulator SysML Simulator Simulink

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Approach adopted (IBM)

Use SysML for a system architecture description

Use specific languages for each domain

� Simulink for continuous-time behavior in a control s ystem

Time duration assignment to SysML action

(MARTE)

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(MARTE)

Verify specification by collaborative simulation

� Run multiple simulation in parallel with time synch ronization

� Independent time management module

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Extended Modeling for Simulation in SysML

(IBM)

Time assignment to action

Continuous data exchange between blocks

Specifying Simulink model as a block behavior

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MARTE <<GaStep>> stereotype, or sleep() method in action code

SysML flow ports with connectors in internal block diagram

<<externalModel>> stereotype to specify model file

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Time Management (IBM)

Data is exchanged and the next Simulink step is

executed at:

� End of timed SysML behavioral step ( <<GaStep>> or sleep() )

� Periodic data exchange event

SysML SysML

MATLAB / Simulink …SysML

SysML actions

Action1Action2

Action3

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SysML

objectSysML

objectMATLAB / Simulink

Timed schedulerUML execution engine

COSIMATE BUS

Demands of time

Add periodic data exchange events into the list consists of the discrete events

Time demands to scheduler

MATLAB / Simulink command execution

…Simulation start / stop

SysML

object

400

Time

Periodic data exchange events

0 100 200 300

Periodic data exchange events

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Co-simulation with Simulink (IBM)

All the Simulink models are referred from a

single temporary Simulink model

� Only one Simulink process is used

Simulation data is sent or received through

Input/Output S-Functions

Temporary generated Simulink model

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Model reference1

Input S-Function

Model reference2

OutputS-Function

Temporary generated Simulink model

Model 1 Model 2

Simulink models which are assigned to SysML behaviors

Data from SysML Data to SysML

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Response Time analysis

0

50

100

150

200

250

300

350

400

0

20

40

60

80

100

pow

er [W

]

tem

pera

ture

[C]

fan powerheater power

water temperature

500 60vapor generation rate

humidity

Time(s) Command

0 Test start

10 Power on

2000 Power off

3600 Test end

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0 0 500 1000 1500 2000 2500 3000 3500 4000

0

time [s]

0

100

200

300

400

0 500 1000 1500 2000 2500 3000 3500 4000 30

35

40

45

50

55

vapo

r ge

n. r

atio

[ml/h

]

hum

idity

[%R

H]

time [s]

humidity

38 /38 /

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Conclusions

2 different solutions:

� Fully based on SysML (OMG)

� Require to model everything inside the SysML Tool

� Co-design: (promoted by tool vendors)

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� SysML tool use to model the design of the system

� Modelica tool use to model the analytical model and provide simulation

39 /39 /

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Acknowledgements

Working Group Members

� Yves Bernard (EADS-AIRBUS)� Roger Burkhart (Deere & Co)� Wuzhu Chen (Univ. Braunschweig)� Hans-Peter De Koning (ESA)� Sandy Friedenthal (Lockheed Martin)� Peter Fritzson (Linköping University)� Nerijus Jankevicius (No Magic)� Alek Kerzhner (Georgia Tech)

Students / post-docs� Kevin Davies� Sebastian Herzig� Alek Kerzhner� Ben Lee� Roxanne Moore

Sponsors

� Deere & Co

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� Alek Kerzhner (Georgia Tech)� Andreas Korff (Atego)� Chris Paredis (Georgia Tech)� Axel Reichwein (Georgia Tech)� Nicolas Rouquette (NASA JPL)� Wladimir Schamai (EADS IW)

� Lockheed Martin

� National Science Foundation

With The contribution of the Modelica Association (www.modelica.org)

40 /40 /

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Modelica Tools

Commercial Modelica Simulation Environments (alphabetical list)

� CATIA Systems from Dassault Systèmes(based on Dymola kernel with PLM integration)

� Dymola from Dynasim AB, Sweden(Dynasim was acquired by Dassault Systèmes in 2006).

� LMS Imagine.Lab AMESim from LMS International

� MapleSim from MapleSoft, Canada.

� MathModelica from Wolfram Research, Sweden.

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� SimulationX from ITI GmbH, Dresden, Germany.

Free Modelica Simulation Environments (alphabetical list)

� JModelica.org from Lund University and Modelon AB, Sweden(under development; subset of Modelica is available) .

� OpenModelica from Linköping University, Sweden(under development; subset of Modelica is available)

An up-to-date list of Modelica tools is available from: www.modelica.org/tools

41 /41 /

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