Article | Proceedings of the 5th International Workshop on Equation-Based Object-Oriented Modeling Languages and Tools; April 19; University of Nottingham; Nottingham; UK | Tool Demonstration Abstract: OpenModelica and CasADi for Model-Based Dynamic Optimization
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Title:
Tool Demonstration Abstract: OpenModelica and CasADi for Model-Based Dynamic Optimization
Author:
Alachew Shitahun: Department of Computer and Information Science, Linkoping University, Sweden Vitalij Ruge: Department of Mathematics and Engineering, University of Applied Sciences, Germany Mahder Gebremedhin: Department of Computer and Information Science, Linkoping University, Sweden Bernhard Bachmann: Department of Mathematics and Engineering, University of Applied Sciences, Germany Lars Eriksson: Department of Electrical Engineering, Linköping University, Sweden Joel Andersson: Department of Electrical Engineering and Optimization in Engineering Center (OPTEC), K.U. Leuven, Belgium Moritz Diehl: Department of Electrical Engineering and Optimization in Engineering Center (OPTEC), K.U. Leuven, Belgium Peter Fritzson: Department of Computer and Information Science, Linkoping University, Sweden
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Full text (pdf)
Year:
2013
Conference:
Proceedings of the 5th International Workshop on Equation-Based Object-Oriented Modeling Languages and Tools; April 19; University of Nottingham; Nottingham; UK
Issue:
084
Article no.:
012
Pages:
107-108
No. of pages:
2
Publication type:
Abstract and Fulltext
Published:
2013-03-27
ISBN:
978-91-7519-621-3 (print)
978-91-7519-617-6 (online)
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press; Linköpings universitet


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This paper demonstrates model-based dynamic optimization through the coupling of two open source tools: OpenModelica; which is a Modelica-based modeling and simulation platform; and CasADi; a framework for numerical optimization. The coupling uses a standardized XML format for exchange of differentialalgebraic equations (DAE) models. OpenModelica supports export of models written in Modelica and the Optimica language extension using this XML format; while CasADi supports import of models represented in this format. This allows users to define optimal control problems (OCP) using Modelica and Optimica specifications; and solve the underlying model formulation using a range of optimization methods; including direct collocation and direct multiple shooting. The proposed solution has been tested on several industrially relevant optimal control problems; including a diesel-electric power train; a free-floating robot; and a stirred-tank.

Keywords: Model-Based Optimization; OpenModelica; Dynamic Optimization; Modelica; CasADi

Proceedings of the 5th International Workshop on Equation-Based Object-Oriented Modeling Languages and Tools; April 19; University of Nottingham; Nottingham; UK

Author:
Alachew Shitahun, Vitalij Ruge, Mahder Gebremedhin, Bernhard Bachmann, Lars Eriksson, Joel Andersson, Moritz Diehl, Peter Fritzson
Title:
Tool Demonstration Abstract: OpenModelica and CasADi for Model-Based Dynamic Optimization
References:

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[4] Fritzson; P. Principles of Object-Oriented Modeling and Simulation with Modelica; Wiley-IEEE Press; 2003.


[5] Andersson; J.; √Ökesson; J. and Diehl; M. CasADi -- A symbolic package for automatic differentiation and optimal control; Recent Advances in Algorithmic Differentiation; Lecture Notes in Computational Science and Engineering Volume 87: 297-307; 2012.


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[7] Akesson; J. Optimica‚ÄĒAn Extension of Modelica Supporting Dynamic Optimization. In Proc. of 6th International Modelica Conference; March 3-4; 2008.


[8] Shitahun; A.. Template Based XML and Modelica Unparsers in OpenModelica. Master thesis. Linköping University; August 30; 2012


[9] Parrotto; R.; √Ökesson; J. and Casella; F. An XML representation of DAE systems obtained from continuoustime Modelica models. In Proc. of EOOLT 2010; September 2010. www.eoolt.org


[10] Bachmann; B.; et al. Parallel Multiple-Shooting and Collocation Optimization with OpenModelica. In Proc. 9th Int. Modelica Conf. Munich; Germany; Sept 3-5; 2012.


[11] Sivertsson; M. and Eriksson; L. Time and Fuel Optimal Power Response of a Diesel-Electric Powertrain. ECoSM‚Äô 12 ‚Äď IFAC Workshop on Engine and Powertrain Control; Simulation and Modeling; 2012.


[12] Shitahun; A.; Ruge; V.; Gebremedhin; M.; Bachmann; B.; Eriksson; L.; Andersson; J.; Diehl; M.; Fritzson; P. Model- Based Optimization with OpenModelica and CasADi. Accepted to IFAC Sept. 2013; Tokyo; Jan. 2013.

Proceedings of the 5th International Workshop on Equation-Based Object-Oriented Modeling Languages and Tools; April 19; University of Nottingham; Nottingham; UK

Author:
Alachew Shitahun, Vitalij Ruge, Mahder Gebremedhin, Bernhard Bachmann, Lars Eriksson, Joel Andersson, Moritz Diehl, Peter Fritzson
Title:
Tool Demonstration Abstract: OpenModelica and CasADi for Model-Based Dynamic Optimization
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