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1 © 2015 The MathWorks, Inc. Modelling of Multi-Domain Systems Dr. Michael Kitz MathWorks June 9, 2015

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Page 1: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

1© 2015 The MathWorks, Inc.

Modelling of Multi-Domain Systems

Dr. Michael Kitz

MathWorks

June 9, 2015

Page 2: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

2

What Is This?

V+

V-

ω

dt

diLRiKV m

mmmbin

dt

dJbiKT mmt

Page 3: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

3

Three Key Takeaways

Build physical models to test for integration issues early

Improve your design efficiency using domain-specific modelling

Choose the modelling strategy suited to your task

Page 4: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

5

Product Innovation

‘Going Smart’

Model-Based Design:

a Smart Design Process

for Smart Products

Smart Product

The Challenge

Smart Design

Process

Page 5: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

6

Smart Product

Model-Based Design

TE

ST

&

VE

RIF

ICA

TIO

N

INTEGRATION

IMPLEMENTATION

ANALYSIS – SPECIFICATION- DESIGN

MODEL

RESEARCH REQUIREMENTS

MCU DSP FPGA ASIC

Structured

TextVHDL, VerilogC, C++

Architecture

Algorithms

Schematics

TEST

CASES

Environment

Constraints

Physical Domains

TEST

CASES

PLC PAC

Page 6: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

7

Smart Product

Model-Based Design

TE

ST

&

VE

RIF

ICA

TIO

N

INTEGRATION

IMPLEMENTATION

ANALYSIS – SPECIFICATION- DESIGN

MODEL

RESEARCH REQUIREMENTS

MCU DSP FPGA ASIC

Structured

TextVHDL, VerilogC, C++

Architecture

Algorithms

Schematics

TEST

CASES

Environment

Constraints

Physical Domains

TEST

CASES

PLC PAC

Page 7: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

8

Programming/modelling style

Time and frequency

Continuous and discrete

Multiple physical domains

What does Multi-Domain mean?

Physical Modelling (Schematic)

Data Flow (Block diagram) Event-Driven Systems Programming Language (Textual)

Page 8: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

10

Relative Effort of Plant Model Representations

Plant

Specification

Mathematical

Code

Programming EffortDomain Expertise

MATLAB and Simulink

Programming Effort

C, C++, FORTRAN

Domain Expertise

Programming EffortDomain Expertise

Physical Modelling Tools

Physical

Structure

Data Flow

Representation

Duration

Page 9: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

11

Data-Driven ModellingFirst Principles Modelling

Neural Networks

Physical Networks System Identification

Parameter Tuning

Programming

Block Diagram

Modelling Language

Symbolic Methods

Modelling Approaches

Statistical Methods

Page 10: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

13

p1 p2

qp1 p2

p3

p4

Physical Network ConceptThrough & Across Variables

All nodes have the same pressure (across variable)

Sum of flows (through variables) at a node is zero

Each component must specify an equation involving the through and/or

across variables at its boundary

Page 11: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

14

Physical Modelling with Simscape

Mechanical(translational)

Hydraulic

Thermal

Liquid

Custom Domains via Simscape Language

3-D Mechanical Systems (multi-body)

Electric Drives, Power Networks

Pneumatic Magnetic

N S

Electrical

Thermal

Mechanical(rotational)

Domain-specific modelling:

Models that reflect structure of

physical system

Common basic concept:

Bidirectional flow of power

between components

Custom domains and components

Libraries and special technology

add-ons

Co-simulate with FEM-tools

Page 12: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

15

Model Diagram Examples

Hydraulic-mechanical modelPneumatic-mechanical model

Electrical modelThermal model (detail)

Page 13: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

17

Grid

Pitch

Yaw

Rotor

Speed

Blades

Tower

Geartrain GeneratorHub

Lift

Wind

Multi-Domain Model: Wind Turbine

Page 14: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

18

Multi-Domain Model: Wind Turbine

Page 15: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

19

Wind Turbine – Architectural Base Model

Page 16: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

20

Wind Turbine – Basic Functional Models

Page 17: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

21

Wind Turbine – Elaboration, Exploration, Integration

Page 18: Modelling of Multi-Domain Systems€¦ · ANALYSIS –SPECIFICATION- DESIGN MODEL RESEARCH REQUIREMENTS MCU DSP FPGA ASIC Structured Text C, C++ VHDL, Verilog Architecture Algorithms

22

Three Key Takeaways

Build physical models to test for integration issues early

Improve your design efficiency using domain-specific modelling

Choose the modelling strategy suited to your task


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