Rhapsody and mechatronics, multi-domain simulation
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This document discusses mechatronics and its application with Rational Rhapsody Design Manager. [1] Mechatronics involves the integration of mechanical, electrical, and software engineering, requiring a systems engineering approach. [2] Mechatronic modeling requires mathematical modeling tools that can be integrated into logical behavior models. [3] Rhapsody provides a way to work with mathematical modeling tools like Simulink and Modelica to model both logical and physical behavior.
Rhapsody and mechatronics, multi-domain simulation
- 1. Accelerating Product and Service Innovation © 2013 IBM Corporation1 Graham Bleakley Ph.D. Solution Architect A&D and Automotive IBM Software, Rational Mechatronics and its application with Rhapsody Design Manager
- 2. © 2013 IBM Corporation Accelerating Product and Service Innovation Agenda What is mechatronics and How does it fit with Continuous Engineering ? The practicalities of Mechatronic Modelling with Rhapsody Mathematical modelling tools for SE and Mechatronics Use of Simulink and Parametrics Constraint Evaluator Specification models Design Models Use cases Modelica Introduction Functional Mockup Interface and Unit:-How it works Use cases Vision of RDM as FMI simulation backbone References
- 3. © 2013 IBM Corporation Accelerating Product and Service InnovationAccelerating Product and Service Innovation The ‘make up’ of products and systems has changed More Time Consumer expectations Complexity Software and electronics
- 4. © 2013 IBM Corporation Accelerating Product and Service Innovation What is Mechatronics ? Interdisciplinary approach to engineering that involves the integration of Mechanical Electrical Software Requires a system engineering approach to develop properly integrated systems Also know as:- Cyber-Physical Systems (CPS)
- 5. © 2013 IBM Corporation Accelerating Product and Service Innovation Mechatronics and Modelling Emphasis on understanding the physical behaviour of the systems as well as the logical behaviour Requires mathematical modelling tools Mathematical modelling tools need to be integrated into the logical behaviour models Physical representations of the systems can and do affect the performance of the system under design Why do you model the physical systems ? Verify that you can meet functional and non-functional requirements Trade studies (parametric analysis) Ensure that the system does what it says It can do Continuous Engineering Simulation Connected Information
- 6. © 2013 IBM Corporation Accelerating Product and Service Innovation 6 Quality managementAnalysis, design and prototypingRequirements management Workflow, Planning, Task & Change Management Mechatronics Modelling and Continuous Engineering (Simulation) Engineering context Market Analytics System Verification and Validation System Test System Requirements System Design Deployment/ Release to Mfg. Customer Requirements Operations and Maintenance Implementation Decomposition andDefinition Integration andValidation Agile Software Engineering Electrical/ Electronics Design Mechanical Design Iterative Mechatronics Modelling
- 7. © 2013 IBM Corporation Accelerating Product and Service Innovation 7 MBSE and Open Information
- 8. © 2013 IBM Corporation Accelerating Product and Service Innovation 8 IBM helps you turn product development into a competitive advantage Improve systems engineering to tackle growing product complexity Improve software development to deliver innovation faster With an open, integrated systems approach that enables access to all engineering and related information Engineering context Open standards Market Analytics System Verification and Validation System Test System Requirements System Design Deployment/ Release to Mfg. Customer Requirements Operations and Maintenance Implementation Decomposition andDefinition Integration andValidation Agile Software Engineering Business Engineering Operational Enterprise information Electrical/ Electronics Design Mechanical Design Iterative
- 9. © 2013 IBM Corporation Accelerating Product and Service Innovation The practicalities of Mechatronic Modelling with Rhapsody
- 10. © 2013 IBM Corporation Accelerating Product and Service Innovation 10 HVC 2012Nov. Developing Mechatronic/CPS (usually) means doing Systems Engineering Commonly used in complex multi-disciplinary systems: Requires disciplined requirements analysis (functional and non- functional analysis, trade-offs, etc.) Requires coordination between domain specific engineering teams (managing engineering artifacts) High risk of failure, esp. during integration, Leads to non-trivial emergent behavior -> simulations! Source: Sheard, Sara, A.,Systems Engineering Roles Revisited, Proceedings of the 10th Annual International Council of Systems Engineering, 2000
- 11. © 2013 IBM Corporation Accelerating Product and Service Innovation 11 HVC 2012Nov. Typical Mechatronic or CPS modelling Source: Edward A. Lee and Sanjit A. Seshia, Introduction to Embedded Systems, A Cyber-Physical Systems Approach, http://LeeSeshia.org, ISBN 978-0-557-70857-4, 2011
- 12. © 2013 IBM Corporation Accelerating Product and Service Innovation 12 There is no single tool that fits all needs • Rhapsody is excellent for embedded systems design (statecharts, activity diagrams, sequence diagrams) • Modelica tools are intended for physical modeling • Simulink strength is control design Systems Engineers generally choose a single tool that best meets their needs, making compromises in multi-domain modeling • Often organizations dictate the tool Change in tool choice means loss of legacy models Tool choice often prohibits inter-organizational cooperation Rhapsody provides a way to work with a variety of mathematical modelling tools Challenges
- 13. © 2013 IBM Corporation Accelerating Product and Service Innovation Mechatronic Modelling tools and Rhapsody Text based tools (work with PCE, one shot analysis) MatLab Maxima Block diagram based tools (DM and continuous time based analysis) Simulink Lab View Time based analysis on another tool Modelica (OO textual mathematical modelling) Implemented graphicaly in tools like Dymola SimulationX Integration is via the Functional Mockup Interface (FMI)
- 14. © 2013 IBM Corporation Accelerating Product and Service Innovation Use different tools for different types of analysis (PCE) Useful for calculating properties of systems using Parametric diagrams Total system mass Total systems weight Examine Non-functional requirements i.e. totalMass<17 Kg Maxima is easier to use than Matlab Everything driven by function calls that have to be defined in Matlab
- 15. © 2013 IBM Corporation Accelerating Product and Service Innovation Use different tools for different types of analysis (Integrated) Simulink and National Instruments The mathematical model is embedded in the plant model Connected via flow ports Different levels of analysis Specification level Understanding systems level non-functional requirements i.e. max motor torque
- 16. © 2013 IBM Corporation Accelerating Product and Service Innovation Satisfying Systems Level Requirements By Linking requirements to model Simulink models at the block or even the model level we can show traceability This can be brought out in DM and RELM see https://w3-connections.ibm.com/files/app#/file/975b9225-9a41-4834- af69-99450113100d
- 17. © 2013 IBM Corporation Accelerating Product and Service Innovation Simulink and PCE for Design Possible to feed analysis from PCE model into a Design Model Simulink model is more detailed and shows components with real component values
- 18. © 2013 IBM Corporation Accelerating Product and Service Innovation Leads to detailed analysis Specification model leads to ball park design figures Design model leads to identification of potential components Compare specification analysis to design analysis models Evaluate non-functional requirements at different levels of abstraction Max torque (spec) Max torque (design) Max motor torque due No gearbox actual masses/gb to gearbox
- 19. © 2013 IBM Corporation Accelerating Product and Service Innovation Possible workflow for PCE and Simulink Specification Level (use case/ functional and non-functional analysis) Take initial requirements and derive simulink or analytical model using parametric diagrams (and Maxima) to understand things like Expected torques for drive systems based on non-functional requirements • Expected mass of components • Timing requirements to complete an overarching operation of the system Basic control strategies • Differentiate between acceleration, velocity controls Gives you the ability to do some initial understanding and refinement of the systems design Derive further requirements Start to think about different implementation strategies
- 20. © 2013 IBM Corporation Accelerating Product and Service Innovation Possible workflow for PCE and Simulink Design Synthesis level (Physical Architecture) Use Parametric diagrams to understand how non-functional requirements are met Total Mass of the System Total Cost of the System Start to do optimisation of the system using real component values Value over Excel is that:- Component values and the design decisions are captured directly in the model Through RDM and RELM there is potential to link into design catalogues of specific components Capture the physical architecture as a Rhapsody model with the physical behaviour captured in a detailed plant model created in Simulink Plant model uses real component data to verify that higher level functional and non-functional requirements are met In the same ball park as the specification model (verification of the initial assumptions) Provides a test case for the implementation
- 21. © 2013 IBM Corporation Accelerating Product and Service Innovation HVC 2012 Usage on the “V-Model” Requirements Analysis Functional Decomposition Design Synthesis Analysis Design Implementation SystemsEng. SoftwareEng. Simulation in Rhapsody Generate code (algorithmic integration) Component/Subsystem Spec. Simulation in Simulink * Doing trade studies with PCE is not shown in this tutorial PCE, Maxima/Matlab Simulation in Simulink Analysis Non-Functional System Requirements Trade Study Parametric Constraint Evaluation (PCE)*
- 22. © 2013 IBM Corporation Accelerating Product and Service Innovation Usage model for DM and Simulink Be careful Simulink has basic configuration control built into it Has a library mechanism to manage models Sophisticated users develop model libraries and reuse components In DM you can manage Simulink models as part of a configuration and the owning Rhapsody model This would work best under actively managed mode If doing Hybrid simulation it is currently best to work in actively managed mode You can do simulation on DM but you need to reference the original Simulink model or files, not the version published to DM You might get Simulink users generating code and embedding in Rhapsody This is more sw orientated and would suggest using externally managed mode
- 23. © 2013 IBM Corporation Accelerating Product and Service Innovation HVC 2012 Modelica A standardized textual language for modeling physical systems Annotations are also standardized now and can be used to render diagrams Developed since 1996 by the Modelica Association https://www.modelica.org Current version 3.3 (May 2012) Modelica is Object-Oriented (see right side) Has a large (~30) set of free and commercial libraries for different domains (source: https://www.modelica.org/ModelicaLibrariesOverview) Implemented by various free and commercial tools: (Dymola, Open Modelica, Math Modelica) The OMG SysML4Modelica profile extends SysML to model Modelica constructs in SysML (IBD) and roundtrip Modelica models back to SysML Source: https://modelica.org/publications/papers/Eurosim98Modelica.pdfSource: https://modelica.org/publications/papers/Eurosim98Modelica.pdf
- 24. © 2013 IBM Corporation Accelerating Product and Service Innovation FMI – Functional Mockup Interface - Background • FMI development initiated, organized and headed by Daimler AG • Improved Software/Model/Hardware-in-the-Loop Simulation, of physical models from different vendors. • Open Standard • 14 Automotive Use-Cases to evaluate FMI. Engine with ECU Gearbox with ECU Thermal systems Automated cargo door Chassis components, roadway, ECU (e.g. ESP) etc. functional mockup interface for model exchange and tool coupling Blocwitz, Otter, et al, retrieved from: https://trac.fmi-standard.org/export/700/branches/public/docs/Modelica2011/The_Functional_Mockup_Interface.ppt The FMI development is part of the ITEA2 MODELISAR project
- 25. © 2013 IBM Corporation Accelerating Product and Service Innovation Functional Mock-up Interface (FMI) Approach Problems / Needs Component development by supplier Integration by OEM Many different simulation tools ? supplier1 supplier2 supplier3 supplier4 supplier5 OEM supplier1 tool 1 supplier2 supplier3 supplier4 supplier5 tool 2 tool 3 tool 4 tool 5 FMI OEM Solution Reuse of supplier models by OEM: DLL (model import) and/or Tool coupling (co-simulation) Protection of model IP of supplier !supplier1 supplier2 supplier3 OEM Added Value Early validation of design Increased process efficiency and quality Blocwitz, Otter, et al, retrieved from: https://trac.fmi-standard.org/export/700/branches/public/docs/Modelica2011/The_Functional_Mockup_Interface.ppt
- 26. © 2013 IBM Corporation Accelerating Product and Service Innovation Multi-domain engineering use case 1. Systems Eng. creates SysML model of overall system 2. Software Eng. creates UML models of software components of vehicle and control station 3. Mechanical Eng. creates Modelica models for mechanical components and control 4. FMUs created for behavioral models 5. Simulation Engineer cofigures Simulation using FMUs 6. Simulation Engineer performs Simulation verifying System behavior 7. Simulation Engineer delivers results
- 27. © 2013 IBM Corporation Accelerating Product and Service Innovation Fully integrated use cases 1. Systems Engineer specifies a system architecture in Rhapsody 2. Systems Engineer exports some of the components to physical modeling tool (e.g. SimulationX) and control modeling tools (e.g. Simulink) 3. Mechnical Engineers models mechnical components within the physical modeling tool 4. Software Engineer models software components in Rhapsody 5. Control Engineer models the control elements 6. Any one of the engineers can deploy the integrated model into the simulation tool and run the simulation
- 28. © 2013 IBM Corporation Accelerating Product and Service Innovation Hybrid Simulation Platform Vision Hybrid Simulation Platform Modelica Plant Model Simulink model computation algorithm UML based behavioral model System design Com p11 com p21 com p31 System composition Simulation center Contracts/ Simulation Monitors System Requirements Models, designs and results repository Version control and dependency analysis FMU1 FMU1 FMU1 Textual requirements Models 28 SW Domain Physical Domain HiL components
- 29. © 2013 IBM Corporation Accelerating Product and Service Innovation References CEE-1093, Case Study: Simulation of Complex Hybrid Systems by Using FMI for Israel Aerospace Industries Eldad Palachi, Daniel Wadler (Innovate 2014) Simulating Cyber-Physical Systems using SysML and Numerical Simulation Tools, Eldad Palachi 8th Haifa Verification Conference, Nov. 2012 http://www.research.ibm.com/haifa/conferences/hvc2012/papers/HVC2012Eldad_Palachi.pdf Introduction to Parametric Modelling https://www.youtube.com/watch?v=jpxXjkIsnmE For those internal to IBM (although I may make this externally available) Andy Lappings demo of Rhapsody, Simulink and DM based on ACC model https://w3-connections.ibm.com/files/app#/file/975b9225-9a41-4834-af69-99450113100d Mechatronics Group on Lotus Connections https://w3-connections.ibm.com/wikis/home?lang=en#!/wiki/Mechatronics%20modelling%20Rhapsody%2C %20Simulink%20and%20PCE/page/Welcome%20to%20the%20Systems%20Engineering %20Mechatronics%20modelling%20with%20Rhapsody%2C%20Simulink%20and%20PCE%20page Or to make it easier http://ibm.co/1A8awWZ
- 30. © 2013 IBM Corporation Accelerating Product and Service Innovation Integration points with MATLAB tools (July 2014) - summary Name Tools Main Audience Description Canonical Workflow “hosted simulation” Rhapsody, Simulink, Embedded Coder Software Engineers Import Simulink models and generated code from embedded coder to Rhapsody and generate C/C++ code for execution (with or without animation) - Build Simulink Model - Generate code for the Simulink model - Import to Rhapsody - Specify usage and composition - Generate and execute in Rhapsody “design control systems”/”plant modeling” Rhapsody, Simulink Systems Engineers Export structured blocks parts typed by “Simulink blocks” to Simulink and run the simulation in Simulink Note: Relies on S-Function generation from Rhapsody - Export a “stub” block from Rhapsody to Simulink: creating a skeleton model - Specify the behavior of the block as a Simulink model - Import the Simulink model back to Rhapsody (if the interface changed) - Specify an IBD of a structured Simulink block with parts typed by SysML blocks connected to parts typed by Simulink blocks - (Optionally) specify simulation properties (start/end times, plots…) in Rhapsody - Export the composition to Simulink and run the simulation “parametric constraint evaluator” (PCE) Rhapsody, MATLAB + Math Symbolic Toolbox OR MAXIMA Systems Engineers Solve and perform analytical simulation of a set of SysML parametric diagrams - Specify a set of equations and bind the variables to block attributes using parametric diagrams - Define constraint views to group sets of parametric diagrams and associate with instance specifications - Solve the constraint sets or plot time dependent behavior - Iterate over the values and update the model with the results “Simulink DM integration” Design Manager (DM) and Simulink Systems and Software Engineering Externally or actively manage Simulink models in Rhapsody design manager - Publish a Simulink model on DM OR - Actively manage Simulink models in DM (save , load ,.lock, etc.)
- 31. © 2013 IBM Corporation Accelerating Product and Service Innovation © Copyright IBM Corporation 2013. All rights reserved. The information contained in these materials is provided for informational purposes only, and is provided AS IS without warranty of any kind, express or implied. IBM shall not be responsible for any damages arising out of the use of, or otherwise related to, these materials. Nothing contained in these materials is intended to, nor shall have the effect of, creating any warranties or representations from IBM or its suppliers or licensors, or altering the terms and conditions of the applicable license agreement governing the use of IBM software. References in these materials to IBM products, programs, or services do not imply that they will be available in all countries in which IBM operates. Product release dates and/or capabilities referenced in these materials may change at any time at IBM’s sole discretion based on market opportunities or other factors, and are not intended to be a commitment to future product or feature availability in any way. IBM, the IBM logo, Rational, the Rational logo, and other IBM products and services are trademarks of the International Business Machines Corporation, in the United States, other countries or both. Other company, product, or service names may be trademarks or service marks of others. www.ibm.com/software/rational
Editor's Notes
- #4: Shift from predominately mechanical products to most innovation being delivered by software and electronics Increased complexity of these smarter products and systems Increased product functionality and quality leads to greater expectations by consumers
- #9: But the disciplines of systems engineering and software development can’t sit in isolation from one another or from the other disciplines and teams in the product lifecycle. For your product development process to be effective you need greater visibility and collaboration across all activities, teams and tools. Key to this is having all necessary information available to provide the engineering context for product development. IBM believes this is best delivered through an open approach to integrating tools and workflows. This presentation will now looks at each of these 3 essential areas of product development in turn. [NEXT SLIDE]
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