omg: transformation omg: transformation sysml4modelica
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OMG: Transformation
Research & Technology
OMG: Transformation
SysML4Modelica &
simulationsL. RIOUX
Thales Research & Technology
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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
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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
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DD
D
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DD
D
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System Model
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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
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D
D
SysMLA
ProfileC
Profile D
Tool D
Domain C
System Model
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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
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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
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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)
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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
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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;
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System simulation with SysML
Full Integration
SysML & Modelica:
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SysML4Modelica
(standard OMG)
Version 1.0: march 2012
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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
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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
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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
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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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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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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
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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;
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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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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
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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)
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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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011.
Tem
plat
e tr
tp v
ersi
on 7
.0.8
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TH
ALE
S 2
011.
Tem
plat
e tr
tp v
ersi
on 7
.0.8