modelon modelica executable requirements ansys conference 2016
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7 June, 2016
Copyright © 2016 by Modelon Inc.
Dr. Hubertus TummescheitBoard Member, Modelica AssociationCEO, Modelon Inc.
Applying FMI/FMU & Modelica for Design and Co-simulation of Complex Dynamic Systems
The Functional Mockup Interface: FMI overview Modelica: a very brief overview A Real-World Example: Active Grill Shutter Controls Vehicle Thermal Management with Modelica Continuous Validation of System Requirements
• Intermediate results from ITEA3 MODRIO project Iterative Controller Development Using Modelica Conclusions
AGENDA
2023-05-01 © Modelon
2
FUNCTIONAL MOCKUP INTERFACEA brief overview
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FUNCTIONAL MOCKUP INTERFACE (FMI)• Tool independent standard to support both model exchange
and co-simulation of dynamic models
• Origin with EU-funded MODELISAR project led and initiated by Daimler
• FMI currently supported by more than 85 tools (see www.fmi-standard.org for most up to date list)
• Active development as Modelica® Association project • FMI 1.0 (2010), FMI 2.0 released July, 2014 with additional
functionality • Endorsed by many organizations: NAFEMS/INCOSE, ProStep,
GAAG
42023-05-01
FMI IN A NUTSHELL• What is FMI?
an application programming interface and its semantics
an xml schema that describes the model structure and capabilities
the structure of a zip file that is used to package the model, its resources and documentation.
• 85 tools support FMI in 9 different categories.
05/01/2023 © Modelon 5
Supported by >85 tools:• 0/1-D ODE Simulators• Multibody Simulators• HIL Simulators /SIL tool chains• Scientific Computation tools• Data analysis tools• Co-simulation Backplanes• Software development tools• Systems engineering tools• SDKs
FMI = BUSINESS ADVANTAGE• Same model – different applications
2013-09-02 © Modelon
FMI: A BUSINESS MODEL INNOVATION1. FMI-compliant tools often allow liberally
licensed export of models for distribution in the organisation and to partners.
2. Exported FMUs most often don’t require a license from the model authoring tool.
3. Deployment from few simulation specialists to designers, domain specialists, control engineers One FMU used by many engineers (control
design) One FMU run on many cores
(robust design, V&V testing)72023-05-01
FMI: A BUSINESS MODEL INNOVATION1. Separate the model authoring tool from
the model execution tool!2. Free the model unit (FMU) from license
restrictions3. Make the standard widely accepted:
https://fmi-standard.org/tools 4. Increased Collaboration possibilities
among typically disparate functional areas
5. Reduced risk & reduction in liability through better virtual verification
2023-05-01 8
FMI STANDARD: RAPID EVOLUTION What’s under consideration for the next releases?
Make it easier to couple 3D FEA models with dynamic system models (e.g. SimScape, Modelica)
Support non-causal connectors • Use Craig-Bampton approach for reduced order models
Extensions for co-simulation model management Systems Simulation & Parameterization (SSP)
Simulate complex cyber-physical systems containing many FMUs
Integrate with other standards to provide tool-independent model traceability and archive of M&S results
• AutoSAR and SAE 26262 (Automotive Industry)• DO 178 (Aerospace and Defense Industry)• LOTAR/AP209 (A&D, Shipbuilding, Power)
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What is Modelica ?• Modelica is a special purpose programming language
for modeling cyber-physical systems. Modelica is: A vendor-neutral standard Multi-domain Object oriented Equation based (acausal) Covers multiple formalisms With a consistent graphical and textual system
representation
• Modelica is like LEGO for Physical Systems Modeling
Object-Oriented ModelingComponent
• Each Icon represents one physical component. For example, electrical resistance, mechanical device, pump
Connection
• A connection line represent the actual physical coupling. For example, electrical wire, rigid mechanical coupling.
Connector
• Variables in the connectors define the Interaction to other objects
• A component consists of connected sub-components (= hierarchical structure) and/or is described by equations.
Analysis
• Dymola® by Dassault Systèmes• IGNITE by Ricardo • LMS Imagine.Lab AMESim® by Siemens• MapleSim® by MapleSoft®
• MWorks by Suzhou Tongyuan• OPTIMICA® Studio by Modelon• SimulationX® by ESI/ITI GmbH• Simplorer by ANSYS• solidThinking-Activate by Altair• Wolfram SystemModeler by Wolfram
• JModelica.org by Modelon• OpenModelica by the Open Modelica Consortium
© Modelon Inc
MODELICA SUPPORTING TOOLSCOMMERCIAL & OPEN SOURCE/ALPHABETICAL
Com
mer
cial
Ope
n So
urce
• My company is actively involved with using and supports these systems modeling and simulation open standards:
a) FMI 1.0b) FMI 2.0c) Modelicad) All of the abovee) Not sure
13
AUDIENCE POLL QUESTION
REAL WORLD EXAMPLEFuel economy is won or lost on the system level
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• Other options for execution & automation: Matlab/Simulink Excel Python Any FMI execution
platform
GRILL SHUTTER CONTROLLER DEVELOPMENT
Hardware Model: Dymola/Modelica
Controller/Software development platform: IBM Rational RhapsodyANSYS SCADE SuiteThe MathWorks® Simulink®etc.
Target: best-in-class fuel economyREAL WORLD EXAMPLE
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Grill shutters:• Reduce aerodynamic
drag• Improve fuel economy
Non-MBSE approach:REAL WORLD EXAMPLE
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Prototype vehicle starts overheating:• Grill shutters reduce aero drag
but degrade cooling• New control strategies
required• Subsystem optimization
resulted in addition of fans for cooling
• Higher cost and missed FE target
Develop prototype
Track test prototype
Sample Vehicle!
MBSE approach:REAL WORLD EXAMPLE
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1. Define requirements
2. Develop model3. Develop test
cases4. Define
requirement monitors
Test virtual system instead of physical prototype!
Find requirement violation – catch overheating issue early
Improve system design to also account for thermal needs
VEHICLE THERMAL MANAGEMENT MODELOverview
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Integrated model for fuel economy and vehicle thermal management• Vehicle model with loads and losses• Vehicle heat loads (engine, friction,
transmission)• Lumped engine thermal model• Coolant and oil circuits with possible additions
of other thermal fluid circuits • Drive cycles (speed, grade, wind, etc.)• Airflow effects• Key vehicle and thermal controls (fan, grill,
etc.)
INTEGRATED VEHICLE THERMAL MANAGEMENT (VTM) MODEL
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Multi-domain physical model libraries in Modelica Libraries developed by Modelon domain experts leveraging
industrial experience and consulting projects
STANDARD MODEL LIBRARIES
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Thermal Mechanic
al Electrical Coolant Air
VTM SYSTEM MODEL
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THERMAL SYSTEM MODELING
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Air Flow
Coolant Circuit
Heat from vehicle systems enters
coolant fluid
Coolant
DRIVER AND DRIVE CYCLES
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Boundary conditions define test case conditions:• Road grade and surface• Ambient air (temperature,
pressure, wind speed, etc.)• Desired vehicle speed profile
(drive cycle)
Ambient
Road
Drive Cycle
TYPICAL DRIVE CYCLE RESULTS25
0 250 500 -5
0
5
10
15
20
25
30
35
40
Vehi
cle
Spee
d [m
/s]
Time [s]
0 250 500 -40
0
40
80
120
160
Engi
ne T
orqu
e [N
.m]
Time [s]
0 250 500
1000
2000
3000
4000
5000
Engi
ne S
peed
[RPM
]
Time [s]
0 250 500 -0.2
0.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
Fuel
Con
sum
ed [k
g]
Time [s]
TYPICAL DRIVE CYCLE RESULTS (THERMAL)
26
Fan speed is lowWhen vehicle is fast
Thermostat opensAs engine warms up
Temperature can only be exceeded for at most X seconds
REQUIREMENTS VERIFICATIONContinuous feedback on compliance of requirements
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
Virtual SystemReal System
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
Virtual SystemReal System
FormalizedRequiremen
ts
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
Virtual SystemReal System
FormalizedRequiremen
tsTranslate to Executable
s
Test Cases Requirements Monitors
Verifier Models
Batch ExecutionExecutable
Environment
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
Virtual SystemReal System
FormalizedRequiremen
tsTranslate to Executable
s
Test Cases Requirements Monitors
Verifier Models
Batch ExecutionExecutable
EnvironmentAll Pass?
Result Report
Done
Modify:• Reqs• System• Model
Yes
NoCompleteCoverage?
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
Virtual SystemReal System
FormalizedRequiremen
tsTranslate to Executable
s
Test Cases Requirements Monitors
Verifier Models
Batch ExecutionExecutable
EnvironmentAll Pass?
Result Report
Done
Modify:• Reqs• System• Model
Yes
NoCompleteCoverage?
These are usually high level, not always easily testable.
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
Virtual SystemReal System
FormalizedRequiremen
tsTranslate
to Executabl
es
Test Cases Requirements Monitors
Verifier Models
Batch ExecutionExecutable
EnvironmentAll Pass?
Result Report
Done
Modify:• Reqs• System• Model
Yes
NoCompleteCoverage?
These are low level and testable. When possible also specified in an open standard language.
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
Virtual SystemReal System
FormalizedRequiremen
tsTranslate to Executable
s
Test Cases Requirements Monitors
Verifier Models
Batch ExecutionExecutable
EnvironmentAll Pass?
Result Report
Done
Modify:• Reqs• System• Model
Yes
NoCompleteCoverage?
These exercise the system dynamics.
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
Virtual SystemReal System
FormalizedRequiremen
tsTranslate to Executable
s
Test Cases Requirements Monitors
Verifier Models
Batch ExecutionExecutable
EnvironmentAll Pass?
Result Report
Done
Modify:• Reqs• System• Model
Yes
NoCompleteCoverage?
These are the executable checks to verify the requirements are met.
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
Virtual SystemReal System
FormalizedRequiremen
tsTranslate to Executable
s
Test Cases Requirements Monitors
Verifier Models
Batch ExecutionExecutable
EnvironmentAll Pass?
Result Report
Done
Modify:• Reqs• System• Model
Yes
NoCompleteCoverage?
Specifying the requirements in a standard way opens the possibility to automatically generate the executable monitors.
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
Virtual SystemReal System
FormalizedRequiremen
tsTranslate to Executable
s
Test Cases Requirements Monitors
Verifier Models
Batch ExecutionExecutable
EnvironmentAll Pass?
Result Report
Done
Modify:• Reqs• System• Model
Yes
NoCompleteCoverage?
Combining a test case with one or more monitors allows requirements to be verified.
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
Virtual SystemReal System
FormalizedRequiremen
tsTranslate to Executable
s
Test Cases Requirements Monitors
Verifier Models
Batch ExecutionExecutable
EnvironmentAll Pass?
Result Report
Done
Modify:• Reqs• System• Model
Yes
NoCompleteCoverage?
The complete set of executable verifier models can be tested automatically.
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
Virtual SystemReal System
FormalizedRequiremen
tsTranslate to Executable
s
Test Cases Requirements Monitors
Verifier Models
Batch ExecutionExecutable
EnvironmentAll Pass?
Result Report
Done
Modify:• Reqs• System• Model
Yes
NoCompleteCoverage?
The report shows a summary overview of the pass/fail results.
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
Virtual SystemReal System
FormalizedRequiremen
tsTranslate to Executable
s
Test Cases Requirements Monitors
Verifier Models
Batch ExecutionExecutable
EnvironmentAll Pass?
Result Report
Done
Modify:• Reqs• System• Model
Yes
NoCompleteCoverage?
When requirements are not met, modifications can be made to the system, model or even the requirements.
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
Virtual SystemReal System
FormalizedRequiremen
tsTranslate to Executable
s
Test Cases Requirements Monitors
Verifier Models
Batch ExecutionExecutable
EnvironmentAll Pass?
Result Report
Done
Modify:• Reqs• System• Model
Yes
NoCompleteCoverage?
The requirements manager should be able to verify that all requirements will be tested by the set of verifier models.
MBSE approach:
REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
RequirementsManager
Virtual SystemReal System
FormalizedRequiremen
tsTranslate to Executable
s
Test Cases Requirements Monitors
Verifier Models
Batch ExecutionExecutable
EnvironmentAll Pass?
Result Report
Done
Modify:• Reqs• System• Model
Yes
NoCompleteCoverage?
Translate to Executable
s
MBSE approach:
AUTOMATED REQUIREMENTS VERIFICATION
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Stakeholder Requirements
Design Requirements
All Pass?
Test Cases Requirements Monitors
Verifier Models
Batch Execution
Result Report
Done
Modify:• Reqs• System• Model
Virtual SystemReal System
Executable EnvironmentYes
RequirementsManager
NoCompleteCoverage?
FormalizedRequiremen
ts
Degree of Automation?
REQUIREMENTS MANAGEMENT47
Stakeholder Requirements
Design Requirements
RequirementsManager
Requirements management tools IBM DOORS/DOORS NG
Requirements quality tools Requirements Quality Suite from The Reuse Company
Requirements traceability IBM Requisite Pro, integration with ClearQuest for testing, .. Reqtify (Dassault Systèmes), links Modelica code to req. in DOORS
Requirements formalization? Testing of requirements against system model? Continuous Integration tools to repeat tests for every change to the system?
Translate to
Executables
MBSE approach:
EXECUTABLE REQUIREMENTS
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Stakeholder Requirements
Design Requirements
All Pass?
Test Cases Requirements Monitors
Verifier Models
Batch Execution
Result Report
Done
Modify:• Reqs• System• Model
Virtual SystemReal System
Executable EnvironmentYes
RequirementsManager
NoCompleteCoverage?
FormalizedRequiremen
ts
Focus on this part
2023-05-01 49
AUTOMATED REQUIREMENTS VERIFICATION• Systems Engineering centric FMI-based workflow example:
automated requirements verification for hardware and software requirements
RequirementsFormalized
requirements
Executable model of requirements (e.g.
FMU)
Physical plant Model of plant
Deployable model of plant
(FMU)
Software specSoftware model or prototype
Deployable model of
software (FMU)Deployable model of
environment
Automate Analysis & Deploy to team!
Development of a customized workflow to allow rapid iterations of plant & software configuration
ITEA3 Project:• Model Driven Physical Systems Operation
WP: Define requirements formally and check them automaticallywhenever a Modelica system model is simulated
CURRENT RESEARCH, ITEA3 (EU)
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Example„Pumps should not cavitate when they are operating“ (p(t) ≥ pcav if operating)→ Define formally + associate conveniently to all pumps + check automatically + report issues automatically
Otter et al: Formal Requirements Modeling for Simulation-Based Verification, Modelica’2015
State of the art• Not practical (impossible) with available Model Checkers since requirements
depend on the numerical solution of Differential-Algebraic Equations (DAE).• Limited tool support for connecting „textual requirements“ with simulation models
(e.g. Simulink with Validation & Verification toolbox + IBM DOORS; 3DExperience with Reqtify + Dymola, ...).
• Research languages + tools (e.g. ModelicaML from Airbus Innov./LiU).
MODRIO VIEW- REQUIREMENTS VERIFICATION
Natural language: „Pumps should not cavitate when they are operating“
FORM_L (formal language developed by N. Thuy, EDF) required property R2 = { P in Pumps | during P.InOperation check not P.Cavitate };
1. Define requirements formally
2. Design Architecture (e.g. with SysML)
3. Provide Behavioral Models to evaluate design (Modelica)
4. Associate requirements and architecture with behavioral models
5. Verify Behavior
Otter et al: Formal Requirements Modeling for Simulation-Based Verification, Modelica’2015
Modelica extension to express requirements (under development) FORM-L-inspired Modelica library, based on 3-valued logic:
Satisfied, Undecided, Violated Large Library of pre-defined requirement structures Executable and formal model of requirements, in Modelica
language
PROTOTYPE IMPLEMENTATION
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(x,y) coordinates of input must stay within closed polygon(output: closest distance to polygon + property)
THERMAL MANAGEMENT REQUIREMENTSMonitors for requirements compliance checking
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REQUIREMENTS DOCUMENT
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TEST CASES
Test cases exercise system (or parts of system) under various operating conditions
Test cases exercise system (or parts of system) under various operating conditions
Adding test cases can improve coverage
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REQUIREMENTS MONITORS
Monitors used to check pass/fail status of requirements from test cases
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REQUIREMENTS MONITORS• Monitors from the new Modelica
Requirements library (Otter et al., 2015)
• Checks the conditions of the requirement
• Reports pass, fail, or undecided• Constructed from standard blocks
from the Requirements library• Monitors can be collected in one
submodel, and be compiled into an FMU as well
M. Otter, N. Thuy, D. Bouskela, L. Buffoni, H. Elmqvist, P. Fritzson, A. Garro, A. Jardin, H. Olsson, M. Payelleville,W. Schamai, E. Thomas, AND A. Tundis. Formal Requirements Modeling for Simulation-Based Verification. Proceedings of the 11th International Modelica Conference, Paris, France, September 21-23., pp. 625-635 2015. http://www.ep.liu.se/ecp/118/067/ecp15118625.pdf
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REQUIREMENTS MONITORSMonitors added to test cases – in this case a unit test of the simple controller
Requirements violated (0 of 2): None
Requirements untested (0 of 2): None
Requirements satisfied (2 of 2): (checkReq3.requirement): Grill shutter opened below 15 m/s (checkReq4.requirement): Grill shutter closed above 18 m/s
0 4 8 12 16 20
-20
-10
0
10
20
Vehi
cle
Velo
city
[m/s
]
0 4 8 12 16 20 -0.2
0.0
0.2
0.4
0.6
0.8
1.0
1.2
Gril
l Com
man
d [1
=ope
n, 0
=clo
sed]
Time [s]
Overall pass or fail log direct from library
Vehi
cle V
eloc
ity
[m/s
]Gr
ill C
omm
and
[1=o
pen,
0=
close
d]
Vehicle VelocityGrill Command
THERMAL MANAGEMENT REQUIREMENTSTesting Automation with Optimica Testing Toolkit (OTT)
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OPTIMICA TESTING TOOLKIT Key features
• Modelica and FMI cross testing platform• Flexible test authoring• Automated test execution and reporting
Architecture• Core
Command line tool for running testsUses OPTIMICA compiler toolkit for test retrieval
• GUITool for creating, updating and running testsReviewing and updating results
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OPTIMICA TESTING TOOLKIT GUI
• Test suite defines a collection of test cases for batch execution
• Automated execution of complete suite of tests
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OPTIMICA TESTING TOOLKIT GUI
Report shows summary of results with hyperlinks to detailed reports
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CONTINUOUS INTEGRATION• CI integration for
automated requirement verification
• Hudson, Jenkins, TeamCity• The test specification can
be in the Modelica code and converted
• The test specification can be created in the GUI and version controlled
• Multiple reports from same data:• Human readable HTML
report • Machine readable Junit
xml report
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CONTINUOUS INTEGRATION1. User commits change to
controller2. Automated testing verifies all
requirements are met
Rapid feedback to developer when things get broken!
GRILL SHUTTER CONTROLLERDevelopment Cycle
SIMPLE GRILL SHUTTER CONTROLLER
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Initial bang-bang controller with hysteresis
0 250 500
0
10
20
30
40
Velo
city
[m/s
]
Time [s]
Vehicle Speed Closing Threshold Opening Threshold
Close the shutters when the vehicle speed exceeds the closing thresholdClose Close
Open Open
Open the shutters when the vehicle speed is below the opening threshold
SIMPLE GRILL SHUTTER CONTROLLER
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Implemented as a state machine from Modelica StateGraph2 library
Activation of states completely opens or closes grill shutters
DONE
SIMPLE GRILL SHUTTER CONTROLLER
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State machine transitionsInitial state is grillOpen
Transition condition to closed state based on vehicle speed thresholds
CONTROLLER PERFORMANCESimple Grill Shutter Controller
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CONTROLLER PERFORMANCEBaseline system without grill shutters
0 250 500 -5
0
5
10
15
20
25
30
35
40 Ve
hicl
e Ve
loci
ty [m
/s]
Null controller holds grill shutters in wide open position
Vehicle runs the US06 drive cycle
Vehi
cle V
eloc
ity
[m/s
]
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CONTROLLER PERFORMANCEBaseline system without grill shutters
0 250 500
0
4
8
12
16
20
0 250 500
1000
2000
3000
4000
5000
0 250 500 -500
0
500
1000
1500
2000
2500
3000
0 250 500
80
84
88
92
96
0 250 500 -5
0
5
10
15
20
25
30
35
40
Fuel Economy [mpg]
Engine Speed [RPM]
Coolant Temp [°C]
Fan Speed [RPM]Vehicle Speed [m/s]
-------- 100.0 % of US06_no_shutters requirements are satisfied -------------Requirements violated (0 of 3):None
Requirements untested (0 of 3):None
Requirements satisfied (3 of 3):(checkReq1_1.requirement): Coolant temperature must not exceed 368.15K for longer than 20 seconds(checkReq2_1.requirement): Coolant temperature shall not exceed 371.15K(checkReq3_1.requirement): Grill shutter opened below 15 m/s
SIMPLE GRILL SHUTTER CONTROLLER
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Connect to system model
Controller commands grill shutter position, modifies air flow to stack and aero drag
Replace grill null position controller with state based control logic
SIMPLE GRILL SHUTTER CONTROLLER
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Execute test cases
0 250 500 -5
0
5
10
15
20
25
30
35
40
Vehi
cle
Velo
city
[m/s
]
Repeat the US06 drive cycle
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CONTROLLER PERFORMANCEReview results from continuous integration
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0 250 500
0
4
8
12
16
20
Baseline Simple Controller
0 250 500 75
80
85
90
95
100
105
110
115
Baseline Simple Controller
0 250 500 -500
0
500
1000
1500
2000
2500
3000
Baseline Simple Controller
0 250 500
1000
2000
3000
4000
5000
Baseline Simple Controller
0 250 500 -5
0
5
10
15
20
25
30
35
40
Baseline Simple Controller
CONTROLLER PERFORMANCESystem with simple grill shutters
Fuel Economy [mpg]
Engine Speed [RPM]
Coolant Temp [°C]
Fan Speed [RPM]
Vehicle Speed [m/s]
-------- 50.0 % of US06_FMU_simpleGC requirements are satisfied -------------Requirements violated (2 of 4):(checkReq1_1.requirement at 86.3981 s): Coolant temperature must not exceed 368.15K for longer than 20 seconds(checkReq2_1.requirement at 111.523 s): Coolant temperature shall not exceed 371.15K
Requirements untested (0 of 4):None
Requirements satisfied (2 of 4):(checkReq3_1.requirement): Grill shutter opened below 15 m/s(checkReq4_1.requirement): Grill shutter closed above 18 m/s
Failed thermal requirements
400 440 480 520 560 600 15.5
16.0
16.5
17.0
17.5
18.0
18.5
19.0
Baseline Simple Controller
In addition to failed thermal requirements, fuel economy actually decreased!
Fuel Economy [mpg]
75 100 125 94
95
96
97
98
99
100
Baseline Simple Controller
Temperature exceeds 95°C for more than 20 seconds
Temperature exceeds 98°C
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0 250 500
0
4
8
12
16
20
Baseline Simple Controller
0 250 500 75
80
85
90
95
100
105
110
115
Baseline Simple Controller
0 250 500 -500
0
500
1000
1500
2000
2500
3000
Baseline Simple Controller
0 250 500
1000
2000
3000
4000
5000
Baseline Simple Controller
0 250 500 -5
0
5
10
15
20
25
30
35
40
Baseline Simple Controller
CONTROLLER PERFORMANCESystem with simple grill shutters
Fuel Economy [mpg]
Engine Speed [RPM]
Coolant Temp [°C]
Fan Speed [RPM]
Vehicle Speed [m/s]
0 250 500 -500
0
500
1000
1500
2000
2500
3000
Baseline Simple Controller
Closed grill shutters reduces air flow through the stack. Compensated for by increased the fan speed, draws more electrical power from the alternator… and ultimately the engine.
Fan Speed
IMPROVED CONTROLLER DESIGN
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IMPROVED CONTROLLER DESIGN Improved controller
Additional inputs to account for system temperatures
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IMPROVED CONTROLLER DESIGN Improved controller
Additional state for new logic
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IMPROVED CONTROLLER DESIGN Improved controller
PID modulates grill position based on weighted average temperature
CONTROLLER PERFORMANCEImproved Grill Shutter Controller
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82
CONTROLLER PERFORMANCEReplace the simple bang-bang control logic with the improved controller
0 250 500 -5
0
5
10
15
20
25
30
35
40
Vehi
cle
Velo
city
[m/s
]
Repeat the US06 drive cycle
05/01/2023
83
CONTROLLER PERFORMANCEReview results from continuous integration
Requirements now pass across multiple test cases
05/01/2023
84
0 250 500
0
4
8
12
16
20
Baseline Simple Controller Improved Controller
0 250 500
1000
2000
3000
4000
5000
Baseline Simple Controller Improved Controller
0 250 500 75
80
85
90
95
100
105
110
115
Baseline Simple Controller Improved Controller
0 250 500 -500
0
500
1000
1500
2000
2500
3000
Baseline Simple Controller Improved Controller
0 250 500 -5
0
5
10
15
20
25
30
35
40
Baseline Simple Controller Improved Controller
CONTROLLER PERFORMANCESystem with improved grill controller
Fuel Economy [mpg]
Engine Speed [RPM]
Coolant Temp [°C]
Fan Speed [RPM]
Vehicle Speed [m/s]
-------- 100.0 % of US06_FMU_advancedGC requirements are satisfied -------------Requirements violated (0 of 3):None
Requirements untested (0 of 3):None
Requirements satisfied (3 of 3):(checkReq1_1.requirement): Coolant temperature must not exceed 368.15K for longer than 20 seconds(checkReq2_1.requirement): Coolant temperature shall not exceed 371.15K(checkReq3_1.requirement): Grill shutter opened below 15 m/s
Requirements now pass
400 440 480 520 560 600 15.5
16.0
16.5
17.0
17.5
18.0
18.5
19.0
19.5
Baseline Simple Controller Improved Controller
Fuel economy improved, also over baseline
Fuel Economy [mpg]
• Further integration with MBSE/Reqs tools for fully automated traceability
• Complete automation of requirements verifcation process
• … much more progress on tools is needed to have a coherent work flow from stakeholder requirements to formal requirements and finally fully automated requirements
verification.2012-05-24 © Modelon Modelon Confidential 85
FUTURE FMI/FMU GOALS
• FMI simplifies tool connectivity and allows more efficient work flows & processes
• FMI enables true MBSE, with executable models
• Requirements monitors make the requirements executable and enables the ability to check requirements compliance continuously during systems development
• Process automation is key to integrate the requirements verification with MBD.
2012-05-24 © Modelon Modelon Confidential 86
SUMMARY & CONCLUSIONS
2013-06-11 © Modelon 87
FMI=CONNECTED MBSE
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