Design and Implementation of Object-Oriented ... - Automatic Control

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Chapter 1. Introduction • Modeling of a solar thermal steam power plant, [Tummescheit and Pitz-Paal, 1997]. • Combustion engine modeling at Ford Motor Company [Tiller et al., 2000]. • Fuel cell system modeling in collaboration with United Technologies Research, UTRC. • Refrigeration cycles, especially evaporators [Jensen and Tummescheit, 2002] in collaboration with DTU 5 and UTRC. • Modeling of steam networks for a paper plant in collaboration with Solvina AB, [Lindstrand, 2002]. This interaction was important to make sure that language and library design were in accordance with real industrial needs. The fuel cell systems library developed at UTRC is an application that was not included in the intended use of the ThermoFluid library in its first design iteration, but is now the largest application library built on top of ThermoFluid. The object-oriented design has proven flexible enough to add chemical reactions, membrane diffusion and electrochemistry to the existing library and still make optimal use of the existing code base. 18 5 Danish Technical University
2 Modeling Techniques Abstract An overview of the mathematical basics for the representation of dynamics outlines the scope and needs for a modeling language. Structuring of models in libraries is the other pillar of object oriented modeling. Model calibration and validation is the step that tunes general purpose models to resemble real systems. Modeling tools define the framework for the implementation of the mathematics and structure into reusable building blocks. 2.1 Representation of Dynamics All models use mathematics as their foundation to express the aspects of reality that are of interest in building a model. A modeling language should thus be well suited to express the mathematical formalisms that are used for modeling. The range of concepts needed to model physical systems and their man-made controls is very broad. A quick inspection of existing modeling tools and languages reveals that their design is typically done in the following way: First choose the appropriate mathematical formalism that is needed to express models for a specific purpose and then the language or tool is designed to handle that case well. Often this decision is hidden in the choice of an engineering domain which then in turn leads to the choice of mathematics. Models for simulation are solved using methods in numerical mathematics. A considerable part of the modeling effort has to be spent on deriving models that have good numerical properties. The choice of the model is often strongly influenced by the reliability or availability of the numerical solution methods. Sometimes particular numerical methods are also integrated in the modeling language. Some of the formalisms can also be represented graphically. This can be of great value to communicate complex model semantics to humans. Reality is complex and so are the models that are derived in an attempt 19
Page 1: Design and Implementation of Object
Page 5 and 6: Design and Implementation of Object
Page 7 and 8: Contents Preface . . . . . . . . .
Page 9 and 10: Preface Preface The subject of this
Page 11 and 12: 1 Introduction Abstract This chapte
Page 13 and 14: 1.2 Outline and Contributions 1.2 O
Page 15 and 16: 1.3 Purpose of Modeling 1.3 Purpose
Page 17 and 18: 1.4 A Turbine System tem in the vic
Page 19: 1.5 How the Work Developed for code
Page 23 and 24: Modelica language. 2.1 Representati
Page 25 and 26: 2.1 Representation of Dynamics plic
Page 27 and 28: 2.1 Representation of Dynamics wher
Page 29 and 30: 2.1 Representation of Dynamics the
Page 31 and 32: 2.1 Representation of Dynamics no e
Page 33 and 34: . n s Solution Domain: Ω : 2.1 Rep
Page 35 and 36: 2.1 Representation of Dynamics tion
Page 37 and 38: 2.1 Representation of Dynamics cont
Page 39 and 40: 2.1 Representation of Dynamics (b)
Page 41 and 42: 2.2 Model Libraries For certain cla
Page 43 and 44: 2.2 Model Libraries Black Box model
Page 45 and 46: 2.3 Validation and Verification Whe
Page 47 and 48: V in R1 R=1 2.4 Physics Based Model
Page 49 and 50: Phase (deg) Magnitude (dB) 0 −50
Page 51 and 52: 2.5 Modeling Tools it is neither ve
Page 53 and 54: 2.5 Modeling Tools data exchange (a
Page 55 and 56: 3.1 Introduction eling, object-orie
Page 57 and 58: 3.2 Key Features of Modelica howeve
Page 59 and 60: 3.3 Modelica Basics ing the additio
Page 61 and 62: 3.3 Modelica Basics /*comment 2 */
Page 63 and 64: 3.3 Modelica Basics Apart from equa
Page 65 and 66: 3.3 Modelica Basics variables assig
Page 67 and 68: 3.3 Modelica Basics Similarly, mode
Page 69 and 70: 3.3 Modelica Basics of ⊲type comp
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3.4 Annotations and Pragmas The two
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4 Physical Models for Thermo-Hydrau
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4.2 Fluid Transport Equations All f
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4.3 Balance Equations the remaining
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4.3 Balance Equations the mass flow
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4.3 Balance Equations where ei is t
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Inserting the forces introduced in
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4.3 Balance Equations Resolving thi
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4.5 Thermodynamic Equations of Stat
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4.5 Thermodynamic Equations of Stat
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4.6 Choice of Dynamic State Variabl
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The inverse of the Jacobian is comp
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Density [kg/m3] 1000 100 10 1 0.1 2
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the mole vector, the temperature an
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4.7 Turbines and Valves Stodola equ
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4.8 Pumps and Compressors The calcu
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4.9 Chemical Reactions Base classes
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Tfluid1 Ta ˙Qa 0.5 Rw Tm ˙ Qb Tb
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4.11 Moving Boundary Models accurat
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Roman and Greek Letters 4.11 Moving
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4.11 Moving Boundary Models Integra
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The energy balance for the superhea
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Two Zone Models 4.12 Void Distribut
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4.12 Void Distribution 000000000000
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Void fraction Γ 1 0.8 0.6 0.4 0.2
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4.12 Void Distribution 000000000000
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5 The ThermoFluid Library Abstract
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5.1 Introduction library files line
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5.2 Basic Ideas • Common alternat
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5.3 Control Volumes and Flow Models
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Lumped Models Control Volume Flow M
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as important concepts for code reus
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5.4 Object-Orientation in ThermoFlu
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Single inheritance Add & replace co
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5.5 Interfaces is a potential or an
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5.5 Interfaces In the ThermoFluid l
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5.6 Base Models This is a straightf
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5.6 Base Models the art and are exp
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5.6 Base Models functions with some
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5.6 Base Models pump acts like an o
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MediumModel replaceable base class
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5.7 Partial Components It is clear
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5.7 Partial Components either not d
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5.8 Component Models tween the indi
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5.8 Component Models Figure 5.11 Mo
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5.9 Examples appears. Large steam t
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Figure 5.13 Schematic of example sy
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5.10 ThermoFluid Applications (a) T
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5.10 ThermoFluid Applications Figur
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Expansion device Evaporator Cooling
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fuel fuel Boiler Boiler G4 G4 G5 G5
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5.11 Comparison with Domain Specifi
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5.12 Summary library. Dymola has a
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6.1 Introduction a user-extensible
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6.2 Means for Library Structuring s
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6.2 Means for Library Structuring i
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6.2 Means for Library Structuring i
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6.2 Means for Library Structuring
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6.2 Means for Library Structuring p
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Cabinet RefrigerantProperties q,T E
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6.4 Structural Design Patterns Figu
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6.4 Structural Design Patterns DESI
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6.5 Numerical Design Patterns 6.5 N
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6.5 Numerical Design Patterns to us
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6.5 Numerical Design Patterns shoul
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6.5 Numerical Design Patterns A Mod
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7 Recommendations for Future Work A
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- Interface definitions to permit d
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7.1 Writing Models • the partial
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7.1 Writing Models ρp in one funct
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7.2 Model Debugging and comprehensi
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7.2 Model Debugging pressures on bo
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7.4 Partial Differential Equations
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7.5 Extensions to ThermoFluid It sh
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8 Conclusions This thesis has descr
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ning equation-based, object-oriente
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Åström, K. J. and B. Wittenmark (
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Dulmage, A. L. and N. S. Mendelsohn
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He, X., S. Liu, and H. Asada (1994)
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Mattsson, S. E. (1997): “On model
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Preisig, H. (2001): “Modeling of
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Tummescheit, H., M. Klose, and T. E
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A Glossary This glossary is for rea
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declarative language A language tha
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polymorphism In object-oriented pro
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B.1 Fundamental Equations Therefore
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B.2 Transformation of Partial Deriv
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B.2 Transformation of Partial Deriv
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In the fundamental equation f (T,
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B.3 Derivatives in the Two-Phase Re
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C Moving Boundary Models This appen
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The derivative of ρ3 is calculated
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D Modelica Language Constructs The
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