Article | Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017 | Model-based Embedded Control using Rosenbrock Integration Methods
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Title:
Model-based Embedded Control using Rosenbrock Integration Methods
Author:
Hans Olsson: Dassault Syst√®mes AB, Lund, Sweden Sven Erik Mattsson: Dassault Syst√®mes AB, Lund, Sweden Martin Otter: DLR, Institute of System Dynamics and Control, Germany Andreas Pfeiffer: DLR, Institute of System Dynamics and Control, Germany Christoff B√ľrger: Dassault Syst√®mes AB, Lund, Sweden Dan Henriksson: Dassault Syst√®mes AB, Lund, Sweden
DOI:
10.3384/ecp17132517
Download:
Full text (pdf)
Year:
2017
Conference:
Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017
Issue:
132
Article no.:
058
Pages:
517-526
No. of pages:
10
Publication type:
Abstract and Fulltext
Published:
2017-07-04
ISBN:
978-91-7685-575-1
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


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Directly generating controller code from models is important for model-based design. This paper will demonstrate how Dymola can generate embedded C-code for Modelica models ‚Äď with several novel aspects, and demonstrate this for actual application examples. Specifically the paper will show that Dymola can generate embedded C-code designed to be easy to embed, with care about minimal foot-print, traceability, and straightforward integration in embedded platforms. The paper will focus on using Rosenbrock methods for index-1 problems (instead of the normal transformation to index-0) that allows Dymola to handle stiff systems in a way that both is theoretically sound and has an upper bound on the execution time per sample. The stiff systems in the control system often occur due to using an inverse (simplified) model of the real plant in the controller, and the paper will also propose to extend Modelica making it more straightforward to construct an inverse model of the plant in the controller.

Keywords: Modelica inverse models real-time embedded Rosenbrock methods inline integration feedforward controller feedback linearization

Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017

Author:
Hans Olsson, Sven Erik Mattsson, Martin Otter, Andreas Pfeiffer, Christoff B√ľrger, Dan Henriksson
Title:
Model-based Embedded Control using Rosenbrock Integration Methods
DOI:
http://dx.doi.org/10.3384/ecp17132517
References:
No references available

Proceedings of the 12th International Modelica Conference, Prague, Czech Republic, May 15-17, 2017

Author:
Hans Olsson, Sven Erik Mattsson, Martin Otter, Andreas Pfeiffer, Christoff B√ľrger, Dan Henriksson
Title:
Model-based Embedded Control using Rosenbrock Integration Methods
DOI:
http://dx.doi.org/10.3384/ecp17132517
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Last updated: 2017-02-21