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1 University of Braunschweig – Institute of Technology
Teaching Modelica for Engineers at Technische Universität Braunschweig
W. Tegethoff, M. Gräber, R. Kossel, C. Richter
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2
1. Classroom and Exam
2. Thinking in Objects
3. Course Example: Refrigeration Cycle
4. Course Example: Tire Service Garage
5. Course Example: Lumped Capacitors
6. Conclusion
Contents
Technische Universität Braunschweig
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Classroom
3 Technische Universität Braunschweig
WilliWilli
ManuelManuel
24 Course Hours24 Course Hours
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4
Final Exam
Learning targets:
•Modeling language Modelica
•Numeric for solving DAE-Systems (heuristic)
•Object-oriented analysis
Technische Universität Braunschweig
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Final Exam
5 Technische Universität Braunschweig
What is What is Polymorphism?Polymorphism?
Exam Time:Exam Time:
30 Minutes30 Minutes
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6
1. Classroom and Exam
2. Thinking in Objects
3. Course Example: Refrigeration Cycle
4. Course Example: Tire Service Garage
5. Course Example: Lumped Capacitors
6. Conclusion
Contents
Technische Universität Braunschweig
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7
Thinking in Objects
Class: Construction Plan /Blueprint
Object: The house
What is a class? What is an object?
Instantiation: Building
More objects of the same class
Technische Universität Braunschweig
Modifier
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AnimalAnimal
Object-oriented Analysis
8 Technische Universität Braunschweig
““is ais a””
““is part ofis part of””
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AnimalAnimal
Object-oriented Analysis
9 Technische Universität Braunschweig
““is ais a””
66
111144
44
““is part ofis part of””
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Object-oriented Analysis
10 Technische Universität Braunschweig
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11
Overview of Course Examples
Refrigeration Cycle
Tire Service Garage
Lumped Capacitors
Technische Universität Braunschweig
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12
1. Classroom and Exam
2. Thinking in Objects
3. Course Example: Refrigeration Cycle
4. Course Example: Tire Service Garage
5. Course Example: Lumped Capacitors
6. Conclusion
Contents
Technische Universität Braunschweig
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Refrigeration Cycle
13 Technische Universität Braunschweig
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14
Solving Non-linear Algebraic Equations
gascooler.idealOutletRefrigerant.p = 1E+007receiver.refrigerant.p = 0Residual:{ -0.0654391, 92922.9 }
gascooler.idealOutletRefrigerant.p = -1E+009receiver.refrigerant.p = -1.41559Residual:{ -0.101224, -9024.99 }
gascooler.idealOutletRefrigerant.p = -9.17831E+008receiver.refrigerant.p = -1.28344Residual:{ -0.0970766, -9024.99 }
Technische Universität Braunschweig
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15
Solving Non-linear Algebraic Equations
NewtonNewton’’s Methods Method
Technische Universität Braunschweig
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Solving Non-linear Algebraic Equations
16 Technische Universität Braunschweig
Pitfalls:
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17
1. Classroom and Exam
2. Thinking in Objects
3. Course Example: Refrigeration Cycle
4. Course Example: Tire Service Garage
5. Course Example: Lumped Capacitors
6. Conclusion
Contents
Technische Universität Braunschweig
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Tire Service Garage
18 Technische Universität Braunschweig
Tire Service GarageTire Service Garage
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Tire Service Garage
19 Technische Universität Braunschweig
Tire Service Garage
Car
<<partial>>
Tire
Firestone Michelin
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Object DiagramObject Diagram
Tire Service Garage
20 Technische Universität Braunschweig
IconIcon
CarCar
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Object DiagramObject Diagram
Tire Service Garage
21 Technische Universität Braunschweig
CarCar
model Car
Firestone spareTire;
Michelin frontRightTire;
Michelin frontLeftTire;
Michelin backRightTire;
Michelin backLeftTire;
end Car;
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Object DiagramObject Diagram
Tire Service Garage
22 Technische Universität Braunschweig
CarCar
model Car
replaceable Firestone spareTire extends Tireannotation (choicesAllMatching=true);
replaceable model TireModel = Michelin extends Tireannotation (choicesAllMatching=true);
TireModel frontRightTire;
TireModel frontLeftTire;
TireModel backRightTire;
TireModel backLeftTire;
end Car;
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Tire Service Garage
23 Technische Universität Braunschweig
Tire Service GarageTire Service Garage
redeclare model TireModel =
Michelin;
M M
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24
1. Classroom and Exam
2. Thinking in Objects
3. Course Example: Refrigeration Cycle
4. Course Example: Tire Service Garage
5. Course Example: Lumped Capacitors
6. Conclusion
Contents
Technische Universität Braunschweig
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25
Lumped Capacitors
TTss
RR11 RR22
22
2
211
1
Qdt
dTC
QQdt
dTC
=⋅
−=⋅
1Q 2Q
1C 2C
TT11 TT22
2
212
1
11
RTTQ
RTTQ s
−=
−=
22
212
21
21
11
11
RCTT
dtdT
RCTT
RCTT
dtdT s
−=
−−
−=
Technische Universität Braunschweig
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Euler’s Method
26 Technische Universität Braunschweig
00 2020 3030 4040Time [s]Time [s]300300
380380
320320
340340
360360
Tem
pera
ture
[K
]Te
mpe
ratu
re [
K]
50501010
DasslDassl’’ss SolutionSolutionEulerEuler’’s Solutions Solution
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Lumped Capacitors - Stiffness
27 Technische Universität Braunschweig
00 400400 600600 800800
Time [s]Time [s]
10001000200200
6.0 e86.0 e8Te
mpe
ratu
reTe
mpe
ratu
re[K
][K
]
--6.0 e86.0 e8
00
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Lumped Capacitors - Stiffness
28 Technische Universität Braunschweig
TTss
RR11
1C 2C
TT11 TT22RR22
21 RR >>
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Lumped Capacitors - Stiffness
29 Technische Universität Braunschweig
00 44 66 88
Time [s]Time [s]
101022
Tem
pera
ture
Tem
pera
ture
[K]
[K]
400400
300300
350350
EulerEuler’’s Methods Method
ΔΔt = 1et = 1e--4 sec4 sec
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Lumped Capacitors – Index Reduction
30 Technische Universität Braunschweig
TTss
RR11
1C 2C
TT11 TT22
2
212
1
11
RTTQ
RTTQ s
−=
−=dt
d
dtd
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Lumped Capacitors – State Selection
31 Technische Universität Braunschweig
TTss
RR11
1C 2C
TT11 TT22
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32
1. Classroom and Exam
2. Thinking in Objects
3. Course Example: Refrigeration Cycle
4. Course Example: Tire Service Garage
5. Course Example: Lumped Capacitors
6. Conclusion
Contents
Technische Universität Braunschweig
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33
Conclusion
Students typically have to learn thinking in objects
Students learn modelling in Modelica by
• Carefully selected didactical concepts
• Well assisted assignments
• Final projects
In thermo-fluid systems, good knowledge about numerical solving of DAE-Systems is necessary
Technische Universität Braunschweig