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MATLAB TARGET SUPPORT PACKAGE - RELEASE NOTES User manual
Dymola
Dynamic Modeling Laboratory
Dymola Release Notes
Dymola 2014 FD01
The information in this document is subject to change without notice.
Document version: 1
© Copyright 1992-2013 by Dassault Systèmes AB. All rights reserved.
Dymola® is a registered trademark of Dassault Systèmes AB.
Modelica® is a registered trademark of the Modelica Association.
Other product or brand names are trademarks or registered trademarks of their respective holders.
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URL:
Phone:
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+46 46 2862500
Contents
1
2
3
Important notes on Dymola .................................................................................................... 5
About this booklet ................................................................................................................... 5
Dymola 2014 FD01 .................................................................................................................. 6
3.1 Introduction ...................................................................................................................................................... 6
3.1.1
Additions and improvements in Dymola ................................................................................................ 6
3.1.2
New and updated libraries ...................................................................................................................... 7
3.1.3
Limited Availability Features ................................................................................................................. 7
3.2 Developing a model ......................................................................................................................................... 8
3.2.1
New version of Modelica Standard Library available ............................................................................ 8
3.2.2
Full Modelica Compliance ..................................................................................................................... 8
3.2.3
Improved presentation of check messages .............................................................................................. 9
3.2.4
Hiding graphical connections ................................................................................................................. 9
3.2.5
Selected commands (built-in functions) available from the package browser...................................... 11
3.2.6
Multiple conversion of libraries supported ........................................................................................... 11
3.2.7
Minor improvements ............................................................................................................................ 12
3.3 Simulating a model ........................................................................................................................................ 13
3.3.1
Improved presentation of translation messages .................................................................................... 13
3.3.2
Opening of result files by drag-and-drop or double-clicking supported ............................................... 17
3.3.3
Plot window .......................................................................................................................................... 18
3.3.4
Animation window ............................................................................................................................... 19
3.3.5
Scripting ............................................................................................................................................... 20
3.3.6
Minor improvements ............................................................................................................................ 23
3.4 Installation ...................................................................................................................................................... 24
3.4.1
Installation on Windows ....................................................................................................................... 24
3.4.2
New command line argument available for license handling ............................................................... 25
3.4.3
Hardware requirements and recommendations ..................................................................................... 26
3.4.4
Software requirements .......................................................................................................................... 26
3.5 Other Simulation Environments ..................................................................................................................... 28
3.5.1
Dymola – Matlab interface ................................................................................................................... 28
3.5.2
Real-time simulation............................................................................................................................. 28
3.5.3
FMI Support in Dymola ....................................................................................................................... 29
3.6 Advanced Modelica Support .......................................................................................................................... 34
3.6.1
New Java interface for Dymola (LA) ................................................................................................... 34
3.6.2
Support of new initialization rules in Modelica .................................................................................... 34
3
3.7 New libraries .................................................................................................................................................. 34
3.7.1
Fuel Cell Library .................................................................................................................................. 34
3.7.2
Heat Exchanger Library........................................................................................................................ 35
3.7.3
Modelica_DeviceDrivers ...................................................................................................................... 35
3.7.4
Vapor Cycle Library ............................................................................................................................. 36
3.8 Updated libraries ............................................................................................................................................ 37
3.8.1
Modelica Standard Library (MSL) ....................................................................................................... 37
3.8.2
Air Conditioning Library ...................................................................................................................... 38
3.8.3
Electric Power Library.......................................................................................................................... 38
3.8.4
Engine Dynamics Library ..................................................................................................................... 38
3.8.5
Flexible Bodies Library ........................................................................................................................ 39
3.8.6
Hydraulics Library ................................................................................................................................ 39
3.8.7
Hydro Power Library ............................................................................................................................ 39
3.8.8
Liquid Cooling Library ......................................................................................................................... 39
3.8.9
Modelica_LinearSystems2 ................................................................................................................... 40
3.8.10
Modelica_StateGraph2 ......................................................................................................................... 40
3.8.11
Modelica_Synchronous Library ........................................................................................................... 40
3.8.12
Optimization Library ............................................................................................................................ 40
3.8.13
Pneumatics Library ............................................................................................................................... 40
3.8.14
PowerTrain Library .............................................................................................................................. 40
3.8.15
Smart Electric Drives Library ............................................................................................................... 41
3.8.16
Thermal Power Library ........................................................................................................................ 41
3.8.17
Vehicle Dynamics Library.................................................................................................................... 41
3.8.18
Vehicle Interfaces Library .................................................................................................................... 41
3.9 Documentation ............................................................................................................................................... 42
4
1
Installation on
Windows
Important notes on Dymola
To translate models you must also install a supported Microsoft Visual Studio C++
compiler. The compiler is not distributed with Dymola. Note that free Microsoft compiler
versions earlier than Microsoft Visual Studio Express 2008 are not supported (concerning
full versions, some earlier versions are supported). Refer to section “Hardware
requirements” on page 26 for more information.
Administrator privileges are required for installation.
2
About this booklet
This booklet covers Dymola 2014 FD01.
The disposition is similar to the one in Dymola User Manual Volume 1 and 2; the same
main headings are being used (except for, e.g., Libraries and Documentation).
Dymola 2014 FD01 Release Notes
5
3
3.1
Dymola 2014 FD01
Introduction
3.1.1 Additions and improvements in Dymola
A number of improvements and additions have been implemented in Dymola 2014 FD01. In
particular, Dymola 2014 FD01 provides
• Support for the new version 3.2.1 of the Modelica Standard Library (MSL). The new
version is included in the distribution as the default MSL version (page 8).
• Full Modelica compliance (page 8).
• Extended FMI support (page 29).
o FMU import on Linux.
o Support of FMI 2.0 Release Candidate 1 (Limited Availability).
o All Dymola solvers supported for FMU Co-Simulation export (Limited
Availability).
• A new Modelica script editor (page 20).
• Improved presentations of messages of check/translation (page 13).
o Number of errors, warnings and messages displayed.
o Filtering of errors, warnings and messages supported.
o Selected default initial conditions and selected continuous time states are
displayed by default. They are displayed as expandable messages.
• Selected commands (built-in functions) available from the package browser (page 11).
• Plot features (page 18)
o Second and higher-order harmonics available as signal operator.
o Multiple select on plot curves.
• The Microsoft compiler Visual Studio 2012 is supported (page 24).
• Multiple conversions of libraries supported (page 11).
• Improved license handling; The user can define (page 25):
o When Dymola should start to warn for license expiration.
o If Dymola should start in Demo mode or terminate if the license is not
found or invalid.
• dSPACE SCALEXIO support for Real-time simulation (e.g. Hardware-In-the-Loop
Simulation) (page 28).
• New Java interface for Dymola (Limited Availability) (page 34).
6
3.1.2 New and updated libraries
New libraries
The following libraries are new:
• Fuel Cell Library, version 1.2.
• Heat Exchanger Library, version 1.0.1.
• Modelica_DeviceDrivers, version 1.2.
• Vapor Cycle Library, version 1.0.
For more information about the new libraries, please see section “New libraries” starting on
page 34.
Updated libraries
The following libraries have been updated:
• Modelica Standard Library, version 3.2.1.
• Air Conditioning Library, version 1.8.6.
• Engine Dynamics Library, version 1.2.
• Electric Power Library, version 2.1.
• Flexible Bodies Library, version 2.1.
• Hydraulics Library, version 3.3.3.
• Hydro Power Library, version 2.3.
• Liquid Cooling Library, version 1.2.
• Modelica_LinarSystems2, version 2.3.1.
• Modelica_StateGraph2, version 2.0.2.
• Modelica_Synchronous Library, version 0.92.
• Optimization Library, version 2.2.1.
• Pneumatics Library, version 1.6.1.
• PowerTrain Library, version 2.2.1.
• Smart Electric Drives Library, version 1.4.4.
• Thermal Power Library, version 1.7.
• Vehicle Dynamics Library, version 1.8.
• Vehicle Interfaces Library, version 1.2.1.
For more information about the updated libraries, please see the section “Updated libraries”
starting on page 37.
3.1.3 Limited Availability Features
This version of Dymola contains certain features which are labeled “Limited Availability”
(LA). It means that the implementation might be partial, diagnostics partial, the testing is
not complete, and no support/maintenance and only limited documentation is available.
Dymola 2014 FD01 Release Notes
7
However, we provide them to you as early as possible in order for you learn about these
features, plan for later use, and be able to give us your feedback. You typically need to set
some switch to enable them. These features are planned to become Generally Available
(GA) in the Dymola 2015 release.
The LA features are briefly described below and are marked (LA).
3.2
Developing a model
3.2.1 New version of Modelica Standard Library
available
By default Dymola will start with Modelica Standard Library (MSL) version 3.2.1 if
installing Dymola for the first time.
Note! If the new version MSL 3.2.1 should be used as default version when earlier versions
of Dymola have been used previously, do the following:
• Apply the command Edit > Options…, select the Versions tab, select Modelica version
3.2.1 and tick Force upgrade of models to this version.
• Save the above setting by selecting the tab Save Settings, tick Default Modelica
version, and click OK to save the default version.
Concerning new features of this version, please see section “Modelica Standard Library
(MSL)” on page 37.
Note! New initialization rules are applied. They can be disabled using a flag if needed. See
section “Support of new initialization rules in Modelica” on page 34 for more information.
All libraries in the Dymola distribution support MSL 3.2.1.
3.2.2 Full Modelica Compliance
Dymola is fully Modelica compliant. A Modelica Compliance test suit for Modelica
Language Specification version 3.2 revision 2 has been developed by Modelica Association.
It consists of 1008 small models testing most of the features of the Modelica Language.
Dymola compiles and simulates all of the 587 correct models. Dymola generates appropriate
diagnostics for 402 of the 421 incorrect models (with pedantic flag set) – a large part of the
missing diagnostics is related to enumerations.
Dymola also handles the synchronous language elements of Modelica Language
Specification version 3.3. Furthermore, Dymola runs all 289 example models of the
Modelica Standard Library version 3.2.1 and the 434 models of the Modelica Standard
Library test suite. The other libraries shipped with Dymola consist of 676 executable
models; and more than 6000 model components and 6000 functions.
8
3.2.3 Improved presentation of check messages
The messages displayed in the Translation tab of the messages window are improved. See
“Filtering of messages” on page 15.
3.2.4 Hiding graphical connections
In Dymola 2014 FD01 the user can easily use the context menu to hide graphical
connections, improving the display of the diagram layer.
To use this feature, the user must set the flag Advanced.InvisibleConnections=true.
The flag is by default false; the selection below is by default not shown in the context menu.
Unticking Visible will give the following:
Selecting one “stub” will also select the other:
Dymola 2014 FD01 Release Notes
9
Hidden graphical connections can easily be displayed by setting Show hidden graphical
objects reached by the command Edit > Options…, in the Appearance tab. By default such
objects are hidden.
Accidental hiding is corrected using Edit > Undo (Ctrl+Z).
10
3.2.5 Selected commands (built-in functions) available
from the package browser
In Dymola 2014 FD01 selected commands (built-in functions) can be made available from
the package browser or be reached by the context command Insert Function Call…. This
enables convenient use in the Modelica Text editor by drag-and-drop.
To load the commands in the package browser, import the package DymolaCommands by
typing import DymolaCommands in the command input line of the Commands window.
The selection and grouping of the commands are the same as in the Dymola User Manual
Volume 1 (chapter “Simulating a model”, section “Scripting”, subsection “Built-in functions
in Dymola”).
Note that since the commands now can be used by the context command Insert Function
Call… the commands are available in a number of editors, e.g. Modelica Text editor as well
as the new Script editor (page 20), if displayed in the package browser.
3.2.6 Multiple conversion of libraries supported
Dymola 2014 FD01 supports multiple conversions of libraries. A typical case is that a user
does not upgrade to each new Dymola version, but “jumps” a certain version. When
upgrading to the present Dymola version in this case, certain libraries may demand to be
upgrading to the “jumped” version before upgrading to the present version. Dymola 2014
FD01 handles this by executing more than one upgrading script in the same operation.
An exception is if any intermediate library version requires manual conversion; which is
handled by converting models to a deprecated library. This deprecated library may be
missing in, or may be incompatible with, the newer Dymola version.
Dymola 2014 FD01 Release Notes
11
3.2.7 Minor improvements
Semi-transparent icons in dragging operations from package browser
When dragging classes from the package browser, the icons are now semi-transparent, to
avoid hiding, e.g., text when dragging to the Modelica Text editor.
Default action “Change Class” when dragging a component from package
browser on top of component in component browser
When dragging a component from the package browser on top of a component in the
component browser, a Change Class action is performed by default if possible. When
dragging a component between two components, the previous behavior displaying a menu
of selectable actions is kept.
Improved icon rendering
Icon rendering has been improved in Dymola 2014 FD01.
• Polygons that specify they not have a border will not get a border-line drawn. This is
most visible in the package browser.
• Splines will be anti-aliased in the package browser.
Adjustable maximum line length in the Modelica Text editor
A dotted vertical line has been added in the Modelica Text editor to indicate the maximum
line length. It can be dragged to change the maximum line length; the user can then adapt to
the new value by right-clicking in the Modelica text editor and select the command
Highlight Syntax, or by the short command Ctrl+L.
Improved syntax error messages
The information in the syntax error messages has been improved, allowing the user to better
understand the cause of the errors.
External links always opened in external web browser
In Dymola 2014 FD01, external links (http or https) in the documentation layer and other
locations are always opened in an external web browser when activated.
12
3.3
Simulating a model
3.3.1 Improved presentation of translation messages
The display and content of messages generated during translation has been improved. This
information is displayed in the Translation tab of the messages window.
Number of errors, warnings and messages displayed
In Dymola 2014 FD01 the number of errors, warnings and messages are always displayed at
the top of the messages window.
Subicons to indicate of other type than parent message
Dymola 2014 FD01 introduces subicons in parent icons to indicate that there exist
submessages of other type than the parent message. This prevents missing submessages
more severe than the parent message.
Dymola 2014 FD01 Release Notes
13
14
Filtering of messages
In Dymola 2014 FD01, messages can be filtered using three buttons. The above image
shows all messages being presented. By clicking on the buttons the user can select what type
of messages to filter. The picture below shows only warnings (compare with previous
figure):
Note that the parent icons are also included since they contain warnings.
Dymola 2014 FD01 Release Notes
15
Presentation of selected default conditions and selected continuous-time
states
Selected default conditions and selected continuous-time states are presented by default. The
default setting of this window will display the following after translation of the demo Motor
Drive (File > Demos > Motor Drive).
Expanding them in this example will display:
16
Clear log
The Translation tab can be erased by clicking the Clear button to the right in the header.
3.3.2 Opening of result files by drag-and-drop or
double-clicking supported
You can open a .mat file (result file or Matlab file) either by dragging it into the Dymola
main window, or by double-clicking it. To use double-clicking, .mat files must be associated
to Dymola.
Dymola will enter Simulation mode when performing any of these actions.
Dymola 2014 FD01 Release Notes
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3.3.3 Plot window
Signal operators: additions and improvements
Second and higher-order harmonics available as signal operator
Second
and
higher-order
harmonics
are
available
using
the
built-in
function
plotSignalOperatorHarmonic, by giving the input parameter harmonicNo values
larger than 1 (1 correspond to first harmonic).
Multiple select on plot curves
In Dymola 2014 FD01 it is possible to select more than one curve in a plot window. A curve
is selected by clicking either on the curve or its legend. To deselect, the curve/legend can be
clicked again.
Selected curves are marked with yellow highlight.
To clear the selection, you can click the background.
If right-clicking a curve and selecting Copy from the context menu, all selected curves will
be copied to a tab-separated list with one column per curve. The first column contains the xvalue, normally time.
18
3.3.4 Animation window
Improved rendering of surfaces in animation
In Dymola 2014 FD01, the support for color fields of surfaces in animation has been
improved. Furthermore, the smoothness of surfaces is also better rendered. This will
improve e. g. presentation and animation of temperature and pressure in the Power Train
library.
Dymola 2014 FD01 Release Notes
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3.3.5 Scripting
A new Modelica script editor
A new Modelica script editor is available in Dymola 2014 FD01.
Accessing the script editor
20
The commands Simulation > Commands > New Script or Simulation > Commands >
Open Script… will open the script editor. The commands are also available as selections
from the Run Script button:
Handling several scripts in the script editor
Several scripts can be open simultaneously. They will be displayed as tabs in the script
editor. Below four scripts are present in the script editor.
Clicking the New Script button in the script editor header will open a new empty script (in
the above example Unnamed 2 since an Unnamed 1 is already present).
Clicking the Open Script button will display a dialog for browsing for an existing script.
Clicking the Save Script button will display a dialog for saving the script.
Scripts can be closed by clicking on the cross in the corresponding tab.
Editing scripts using the script editor
A script that has been edited is marked by a star in the tab. See the figure above for
examples.
A context menu is available by right-clicking in the editor:
Dymola 2014 FD01 Release Notes
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The commands for editing correspond to the commands in the Modelica Text editor.
Tracing
Function calls, variables in functions and global variables can be traced when executing the
script.
Tracing of global variables is always accessible by right-clicking the script editor and
selecting Trace > Trace Global Variables.
To trace a function call or the variables in a function, the function call has to be selected by
double-clicking the name before taking up the context menu and selecting Trace > Trace
Function Call or Trace > Trace Variables in Function.
22
The trace output is displayed in the command log.
Executing a script from the script editor
The active script can be executed by clicking the Run Script button in the header of the
script editor.
Executing a selected part of a script
Right-clicking a selected part of a script, enables the command Run Selection. This
command will execute the selected part of the script as would it be a separate script.
New command (built-in function)
The following command (built-in function) is new in Dymola 2014 FD01:
Function
Description
getLastError
"Returns the last error message from the last command. If
the last command was successful an empty string is
returned. For check, translate, etc, the log is returned."
3.3.6 Minor improvements
Export command in variable browser improved
The previous context command for a result file in the variable browser, Save Result As…
has been renamed to Export Result As…. Also, this improved command does not change
any name of result files in the variable browser when used.
Dymola 2014 FD01 Release Notes
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Simulation events available for plotting
In Dymola 2014 FD01 simulation events are available in the simulation results by ticking
the setting Include a variable for elapsed CPU time during simulation. The setting is
available by the command Simulation > Setup…, the Translation tab. The below example
is from the demo Coupled Clutches:
External links always opened in external web browser
In Dymola 2014 FD01, external links (http or https) in the documentation layer and other
locations are always opened in an external web browser when activated.
3.4
Installation
3.4.1 Installation on Windows
Compilers
New compiler supported
The new compiler Microsoft Visual Studio C++ 2012 is now supported, both the
Professional edition and the Express edition.
To download the free Express edition, the link
www.microsoft.com/visualstudio/eng/downloads
can be used. Note that you need administrator rights to install the compiler.
24
3.4.2 New command line argument available for license
handling
A new command line argument is available in Windows and Linux for controlling
• When Dymola should start to warn that the license will be expiring.
• If Dymola should start in Demo mode if the license is not found or invalid.
Dymola 2014 FD01 Release Notes
25
The default is that Dymola start to warn 30 days before the license is expiring, and starts in
demo mode if the license is not found or invalid.
Consider a user wanting to have the first warning 5 days before the license is expiring, and
wanting to terminate Dymola if the license is not found or invalid. Assuming a 32-bit
Windows computer with Dymola at default location, Dymola could be started with the
following command line using the Command Prompt in Windows:
"C:\Program Files\Dymola 2014 FD01\bin\Dymola.exe" /days -5
The value (5) controls how many days that should be left to expiration when warning, and
the minus before the value is added if Dymola should terminate if the license is not found or
invalid.
“-” can be used instead of “/“; the example above will then be:
"C:\Program Files\Dymola 2014 FD01\bin\Dymola.exe" -days -5
1 day is the minimum start time for warning of license expiration; the warning cannot be
completely disabled.
3.4.3 Hardware requirements and recommendations
Hardware requirements
• At least 1 GB RAM
• At least 400 MB disc space
Hardware recommendations
At present, it is recommended to have a system with an Intel Core 2 Duo processor or better,
with at least 2 MB of L2 cache. Memory speed and cache size are key parameters to achieve
maximum simulation performance.
A dual processor will be enough; the simulation itself uses only one execution thread so
there is no need for a “quad” processor.
Memory size may be significant for translating big models and plotting large result files, but
the simulation itself does not require so much memory. Recommended memory size is 2-4
GB of RAM for 32-bit architecture and 3-6 GB of RAM for 64-bit architecture.
3.4.4 Software requirements
Microsoft Windows
Dymola versions on Windows and Windows operating systems versions
Dymola 2014 FD01 is supported, as 32- and 64-bit application, on Microsoft Windows XP,
Windows Vista and Windows 7. Since Dymola does not use any features supported only by
specific editions of Windows (“Home”, “Professional”, “Enterprise” etc.), all such editions
are supported if the main version is supported.
26
Compilers
Please note that for the Windows platform, a Microsoft C/C++ compiler must be installed
separately. The following compilers are supported for Dymola 2014 FD01 on Windows:
Free editions:
• Visual Studio 2008 Express Edition (9.0)
• Visual C++ 2010 Express (10.0)
• Visual Studio 2012 Express Edition (11.0)
Professional editions:
• Visual Studio 2005 (8.0)
• Visual Studio 2008 (9.0)
• Visual Studio 2010 (10.0)
• Visual Studio 2012 (11.0)
Dymola license server
For a Dymola license server on Windows, all files needed to set up and run a Dymola
license server on Windows, except the license file, are available in the Dymola distribution.
(This includes also the license daemon, where Dymola presently supports FLEXnet
Publisher version 11.9 or later. A recent version is part of the Dymola distribution.)
Linux
Dymola versions on Linux and operating system versions, and compiler
Dymola 2014 FD01 is supported on Red Hat Enterprise Linux 5.1 with gcc version 4.1.2,
and compatible systems (32-bit).
There is no native Dymola 64-bit application for Linux.
Note on Optimization library
Please note that you have to use the Optimization library version 2.x or higher to use multicriteria design optimization on Linux; the older Design.Optimization package does not
support multi-criteria design optimization on Linux.
Dymola license server
For a Dymola license server on Linux, all files needed to set up and run a Dymola license
server on Linux, except the license file, are available in the Dymola distribution. (This also
includes the license daemon, where Dymola presently supports FLEXnet Publisher version
11.9 or later. A recent version is part of the Dymola distribution.)
Dymola 2014 FD01 Release Notes
27
3.5
Other Simulation Environments
3.5.1 Dymola – Matlab interface
Compatibility
The Dymola – Simulink interface now supports Matlab releases from R2008a (ver. 7.6) up
to R2013a (ver. 8.1). Only Visual Studio C++ compilers are supported to generate the
DymolaBlock S-function. The LCC compiler is not supported.
3.5.2 Real-time simulation
dSPACE SCALEXIO support
In addition to the previously supported hardware platforms DS1005 and DS1006, Dymola
2014 FD01 now also introduces support for the SCALEXIO platform.
Compatibility – dSPACE
Dymola 2014 FD01 generated code has been verified for compatibility with the following
combinations of dSPACE and Matlab releases.
dSPACE DS1005 and DS1006 platforms
• dSPACE Release 6.2 with Matlab R2008a
• dSPACE Release 6.3 with Matlab R2008b
• dSPACE Release 6.4 with Matlab R2009a
• dSPACE Release 6.6 with Matlab R2010a
• dSPACE Release 7.0 with Matlab R2009bSP1 and R2010bSP1
• dSPACE Release 7.1 with Matlab R2011a
• dSPACE Release 7.2 with Matlab R2011b
• dSPACE Release 7.3 with Matlab R2012a
• dSPACE Release 7.4 with Matlab R2012a and R2012b
• dSPACE Release 2013-A with Matlab R2012a, R2012b, and R2013a
SCALEXIO
• dSPACE Release 7.4 with Matlab R2012a and R2012b
• dSPACE Release 2013-A with Matlab R2012a, R2012b, and R2013a
The selection of supported dSPACE releases focuses on releases that introduce support for a
new Matlab release and dSPACE releases that introduce a new version of a cross-compiler
tool. In addition, Dymola always support the three latest dSPACE releases with the three
latest Matlab releases. Although not officially supported, it is likely that other combinations
should work as well.
28
Compatibility – xPC Target
Compatibility with Matlab xPC Target has been verified for all Matlab releases that are
supported by the Dymola – Simulink interface, which means R2008a (xPC Target ver. 3.4)
to R2013a (xPC Target ver. 5.4). Only Microsoft Visual C compilers have been tested.
3.5.3 FMI Support in Dymola
FMU import on Linux supported for FMI
FMU import on Linux is now supported for FMI, both Model Exchange and Co-Simulation.
Additional options for FMU import
The FMI tab is reached by the command Simulation > Setup…, then selecting the FMI tab.
Translate value reference to variable name
By ticking this option the imported FMU will contain a file with variable names. This is
useful for debugging, but may affect the performance. With this option selected, value
references will be mapped to variable names in the FMU log messages.
Dymola 2014 FD01 Release Notes
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The option is by default not applied.
Structured declaration of variables
To be able to use this option, the attribute variableNamingConvention in the model
description
file
of
the
FMU
to
be
imported
must
be
set
to
variableNamingConvention="structured".
By ticking this option the variables of the imported FMU will be presented in a hierarchical
structure (using record declarations). This is useful when e.g. wanting to change parameter
values or access variables in the variable browser after a simulation.
The option is by default not applied.
Selectable creation of 32- and 64-bit binaries on FMU export
Dymola now supports configuring whether 32- and/or 64-bit binaries should be generated
for FMU export. This setting is available in the FMI Tab, reached by the command
Simulation > Setup…, the FMI tab:
30
Note that even if the option 64-bit binaries is selected, no such binaries are created unless
64-bit compilation is enabled. In a 32-bit version of Dymola, this can be enabled by setting
the flag
Advanced.CompileWith64=2;
The selection of binaries is disabled on Linux, where only 32-bit binaries are supported.
Dymola 2014 FD01 Release Notes
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Fixed-step embedded solvers supported for FMU Co-Simulation export
The Dymola inline integration solvers are now supported also for FMU Co-Simulation
export. Note that the fixed step-size used for the inline integration should also be used as
step-size when calling the fmiDoStep routine of the generated FMU.
For source code export it is also required to set the flag
#define ONLY_INCLUDE_INLINE_INTEGRATION
in the header file conf.h.
Support for FMI 2.0 Release Candidate 1 (LA)
Dymola 2014 FD01 supports FMI 2.0 RC1 (Release Candidate 1) that was published on
October 18, 2013.
The Dymola implementation has only been tested with Dymola FMU export and Dymola
FMU import, due to no availability of other implementations of FMI 2.0 RC1. No crosschecking or compliance testing was possible before the code freeze for Dymola 2014 FD01.
Note that the non-compatible FMI 2.0 Beta 4 specification is no longer supported.
For information about limitations and the latest status concerning supported features of FMI,
please see www.Dymola.com/FMI.
All Dymola solvers supported for FMU version 1.0 Co-Simulation export
(LA)
This
Limited
Availability
feature
is
activated
by
setting
the
flag
Advanced.FMI.EnableCoSimSolvers=true. By doing that, an additional option for
export is available in the FMI tab:
32
By ticking this option, the solver that is selected in Dymola will also be used by the
exported FMU.
Minor improvements for FMI version 1.0
• Exported FMUs from Dymola support intermediate results for event update
(fmiEventUpdate) in FMI 1.0 Model Exchange.
• ASCII characters of values larger than 32 are now supported by the FMU import.
Dymola 2014 FD01 Release Notes
33
3.6
Advanced Modelica Support
3.6.1 New Java interface for Dymola (LA)
A new Java interface for Dymola is available in Dymola 2014 FD01, containing a number
of functions to perform operations such as simulating, setting variables, plotting, and
exporting data. For more information about this feature, please see the document
“Introduction to the Java interface for Dymola.pdf” available in the distribution, in Program
Files (x86)\Dymola 2014 FD01\Documentation.
The old version of Java interface is still available.
3.6.2 Support of new initialization rules in Modelica
The Modelica Standard Library 3.2.1 supports the new initialization rules in the Modelica
Language Specification Version 3.2 Revision 2, section 8.6. In particular, the item (2) states:
“For all non-discrete (that is continuous-time) Real variables vc, the equation pre(vc) =
vc is added to the initialization equations. [If pre(vc)is not present in the flattened model,
a tool may choose not to introduce this equation, or if it was introduced it can eliminate it
(to avoid the introduction of many dummy variables pre(vc)).]”
Note that a real variable is discrete if it is assigned in a when clause.
In some models the new initialization rules might cause initialization to be over-determined.
The old behavior in Dymola can be retained by setting the flag
Advanced.NewInitializationOfPre=false;
(The full Modelica Language Specification Version 3.2 Revision 2 can be downloaded from
www.modelica.org.)
3.7
New libraries
3.7.1 Fuel Cell Library
The Fuel Cell Library is well suited for component and system design, analysis and
optimization of fuel cells and fuel cell systems of various types.
The library contains a large number of generic components for modeling of pre-reforming
reactors and fuel cell stacks as well as predefined configurations for easy simulation of Solid
Oxide (SOFC) and Proton Exchange Membrane (PEMFC) fuel cells.
Some highlights:
• Well suited for system and component design.
• May be used in any fuel cell application domain.
• Easy to adapt stack and reactor templates to new structures.
34
•
•
•
•
•
Solid oxide fuel cells (SOFC) and Proton exchange membrane fuel cells (PEMFC) in the
same tool.
Predefined reactors for fuel pre-processing and internal stack reforming.
Reactions calculated by various approaches.
Handles reformate and other ideal gas mixtures.
Support for condensation.
The library demands a license.
3.7.2 Heat Exchanger Library
The new Heat Exchanger Library is targeted to heat exchanger design, dimensioning and
stacking. The library contains flat tube heat exchanger models supporting several flat tube
and louvered fin designs. The models accounts for effects of inhomogeneous air flow and
temperature distribution and it is possible to model heat exchanger stacking along the flow
path.
The library is suitable for studying the effects of heat exchanger dimensioning and
positioning on cooling performance. The library has a native interface to the Liquid Cooling
Library for complete thermal management design. The models can be coupled to
Computational fluid dynamics (CFD)-derived boundary conditions on the air side, bridging
the gap between CFD and system simulations.
The main focus is modeling of radiators and stacks in automotive applications.
Highlight features of the library are:
• Geometry based heat exchanger models for system simulations.
• Friction and heat transfer models for louvered fin designs.
• Captures effects of inhomogeneously distributed inlet air flow.
• Coupling to Computational fluid dynamics (CFD) data.
• Modeling of heat exchanger stacks with different heat exchanger geometries, sizes and
positioning.
The library demands a license.
3.7.3 Modelica_DeviceDrivers
The Modelica_DeviceDrivers Library allows accessing some external devices in Modelica
models. Such external devices are input devices, communication devices, shared memory,
analog-digital converters and else. This is achieved by using the Modelica external C
interface to call the appropriate C driver functions provided by the underlying operating
system. Currently Microsoft Windows and Linux are supported.
This Modelica package is free software.
Dymola 2014 FD01 Release Notes
35
3.7.4 Vapor Cycle Library
The Vapor Cycle Library is targeted at thermodynamic systems that include a phase change
of the working fluid, such as vapor compression cycles and organic rankine cycles. It is
suitable for a wide range of applications in among others automotive, industrial equipment,
and process industry. Applications include mobile and residential air conditioning, industrial
refrigeration as well as heat pump systems.
The library contains all components necessary to build a vapor-compression thermodynamic
cycle with the possibility to select from a wide range of refrigerants and other potential
working fluids. Heat exchangers form the interface to other fluid domains, such as air flow
and liquid coolants. Those are then covered in more detail by other libraries, such as the
Liquid Cooling Library.
Main features:
36
•
•
•
•
A wide range of working fluids.
Two- and one-phase fluid flow with a choice of different heat transfer and pressure loss
correlations that also covers phase change.
Ready-to use component models with example parameterization as well as interfaces and
templates for user-specific modifications.
System examples that demonstrate the use of the library.
Limitations in this release:
• Some component models for organic rankine systems, namely pumps and expanders, are
still missing and planned to be included in the next version.
• Air is currently the only available gas in heat exchangers. Additional gaseous fluids will
be included in future releases.
• Heat exchangers are limited to simple but generic types. Detailed models based on
geometry data, which also accept inhomogeneous air inlet distributions, are under
development in the Heat Exchanger Library with the purpose to make them compatible
with the Vapor Cycle Library.
The library demands a license.
3.8
Updated libraries
All libraries are compliant with Modelica Standard Library 3.2.1. If this is the only new
feature in a library below, it is noted in brackets.
3.8.1 Modelica Standard Library (MSL)
A minor version, 3.2.1, has been released, with major emphasis on quality improvement and
tool compatibility. The improvements include:
• More efficient handling of tables, including differentiated table outputs, support for new
binary Matlab formats, and new options for parameter Smoothness and Extrapolation.
• Icons redesign.
• 60 models and blocks and 90 functions newly included.
Version 3.2.1 is backward compatible to version 3.2, that is, models developed with version
3.0, 3.0.1, 3.1, or 3.2 will work without any changes with version 3.2.1.
The Dymola 2014 FD01 distribution contains two versions of Modelica Standard Library
(MSL):
• Version 3.2.1, released 2013-08-14 (build 2).
• Version 3.2, released in October, 2010 (build 9).
MSL 3.2.1 is default in Dymola 2014 FD01. If the user wants to use MSL 3.2 this can be
selected using the command Edit > Options…, selecting the Versions tab.
Dymola 2014 FD01 Release Notes
37
Note! If the new version MSL 3.2.1 should be used as default version when opening models
that are presently using MSL 3.2 or older, do the following:
• Apply the command Edit > Options…, select the Versions tab, select Modelica version
3.2.1 and tick Force upgrade of models to this version.
• Save the above setting by selecting the tab Save Settings, tick Default Modelica
version, and click OK to save the default version.
Note! New initialization rules are applied. They can be disabled using a flag if needed. See
section “Support of new initialization rules in Modelica” on page 34 for more information.
3.8.2 Air Conditioning Library
A minor version 1.8.6 has been released. Features:
• Low/zero-flow receiver outlet refrigerant properties improved.
• Activated headers are taken into account for e.g. enthalpies and pressures.
• Variability for some conversion factors improved.
User models build by version 1.8.4 and 1.8.5 require no conversion.
Note that this new version 1.8.6 is not backward compatible with Modelica Standard
Library 3.2. If Modelica Standard Library 3.2 should be used, please use Air Conditioning
Library version 1.8.5 – that version contains the same features as 1.8.6 except the support
for Modelica Standard Library 3.2.1.
3.8.3 Electric Power Library
The new version 2.1 is a minor version containing minor modifications.
3.8.4 Engine Dynamics Library
Version 1.2 of the Engine Dynamics Library is a major update. Examples of new features
and improvements:
New components added:
•
•
•
Discretized pipe models for air and exhaust in Engines.Pipes package.
Lumped heat exchanger models based on the eps-NTU approach.
The available heat exchanger models have been extended to air-liquid and air-air
variants, in addition to the exhaust – liquid configuration.
Examples of other improvements:
• Improvements in the medium packages.
• Static head can be accounted for by the different pipe models.
User models based on version 1.1 can be converted by the included conversion script.
38
3.8.5 Flexible Bodies Library
In the new version 2.1 a new subpackage ./MovingLoad has been introduced in which
extended versions of the Beam and ModalBody class are presented. They provide the
capability of representing flexible bodies to which moving non-inertial or inertial loads are
attached, i. e. the load attachment point of the load forces is not constant but may change
during simulation.
3.8.6 Hydraulics Library
A minor version 3.3.3 has been released. Some features compared with the version 3.3.1 in
previous Dymola release:
• New types for absolute pressure.
• Improved power steering example.
• A hydraulic damper example is added.
• Scaling improvements
• Improved cross platform compatibility.
Conversion from 3.3.1 is embedded.
3.8.7 Hydro Power Library
The version 2.3 of the Hydro Power Library is a major update containing several
improvements. Some examples:
•
The library is now compatible with the Modelon.Thermofluid library and uses a
media structure based on Modelon.Media. The library is now dependent on the
Modelon library.
•
Connectors have been changed to be compatible with the Modelon.ThermoFluid
library.
The Media has been slightly changed.
Improved names of connector components and better icons.
A number of model name changes.
•
•
•
Models that are using Hydro Power 2.2 will automatically be converted to Hydro Power 2.3.
3.8.8 Liquid Cooling Library
Version 1.2 is a major update. Some examples of new features and improvements:
• New medium property models:
o Motor oil, SAE grade 15W-40.
o Jet fuel A.
o Jet fuel A1.
o Jet fuel B.
• Generic pipes, volumes and heat exchanger components inherit the parameter
declaration from base classes in the Modelon Base Library to facilitate use of templates.
Dymola 2014 FD01 Release Notes
39
•
•
•
•
•
Volume components with any number of connectors, utilizing vectorized connectors and
automatic sizing, have been introduced.
Improved numerical robustness and simulation performance when using aqueous
solutions.
Static head can be accounted for by the generic pipe models and geometric models of
straight pipes.
Added an experiment template model that defines a replaceable medium model, an
aggregate volume component and experiment icon.
Added heat exchanger test bench templates with replaceable components and boundary
conditions.
A provided conversion script can perform all required conversion of user models.
3.8.9 Modelica_LinearSystems2
A minor version 2.3.1 has been released, with minor improvements. It is backward
compatible with the previous version 2.3.
3.8.10
Modelica_StateGraph2
(The new minor version 2.0.2 is compliant with Modelica Standard Library 3.2.1.)
3.8.11
Modelica_Synchronous Library
A minor version 0.92 has been released. Some features:
• A couple of convenience source blocks added, having as output a clocked signal.
• A couple of source blocks added, that are parameterized in terms of clock ticks rather
than simulation time.
• All new blocks are now utilized in at least one test.
3.8.12
Optimization Library
(The new minor version 2.2.1 is compliant with Modelica Standard Library 3.2.1.)
3.8.13
Pneumatics Library
A minor version 1.6.1 has been released.
3.8.14
PowerTrain Library
A minor version 2.1.1 has been released. Some features:
• Additional initialization parameters in a number of modules.
• Improved initialization of all examples so that the initial conditions are defined
consistently.
The library is backward compatible with PowerTrain versions 2.x.
40
3.8.15
Smart Electric Drives Library
A minor version 1.4.4 has been released. Some features compared with the version 1.4.2 in
previous Dymola release:
• Changed initialization of some blocks (version 1.4.3).
• Applied fixed parameter values to some drive models and examples for Modelica
compatibility.
3.8.16
Thermal Power Library
Version 1.7 is a major update of the library. Some examples of improvements:
•
•
•
Restructuring of DynamicPipe_lumpedP twophase model.
New discretized twophase pipe model that can handle reversing flow.
It is possible to use other twophase medium than WaterIf97, e.g. an organic medium like
rR134a.
Models using ThermalPower 1.6 will automatically be updated to ThermalPower 1.7.
3.8.17
Vehicle Dynamics Library
Version 1.8 is a major maintenance release with a number of improvements. Some
examples:
• Additional tuners, tunables and setup experiment are now available; tuners and tunables
can be used to adjust many different properties of the vehicle, such as camber, toe, and
ride heights. Chassis tuning/setup is applicable both in OEMs and Motorsports.
•
•
•
•
An example of the use of the Modelon.DataAccess architecture for data management
has been added. The example demonstrates how a vehicle model can be completely
parameterized to data from external files using the DataAccess functionality.
Boolean visualization modes in wheels have been modified to be Reals, in order to
improve real-time performance.
The Tabular engine and it´s torque block have been restructured to make it easier to add
custom engine torque models.
The parameter and input connectors to the ShakerN and PivotingPlanes ground models
have been changed to get consistency and improved usability. The post locations and
input connector index now corresponds directly to the wheel_number.
A conversion script is available to convert models build with version 1.6, 1.7, and 1.7.1 to
version 1.8.
3.8.18
Vehicle Interfaces Library
(The new minor version 1.2.1 is compliant with Modelica Standard Library 3.2.1.)
Dymola 2014 FD01 Release Notes
41
3.9
Documentation
In the software distribution of Dymola 2014 FD01 Dymola User Manuals of version
“September 2013” will be present; these manuals include all relevant features/improvements
of Dymola 2014 FD01 presented in the Release notes. Limited Availability (LA) features
are not included, except some limited documentation of FMI 2.0 RC1.
42
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