Dymola - CENIT AG

Dymola

Dynamic Modeling Laboratory

Dymola Release Notes

Dymola 2016

The information in this document is subject to change without notice.

Document version: 1

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URL:

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+46 46 270 67 00

Contents

1 Important notes on Dymola .................................................................................................... 5

2 About this booklet ................................................................................................................... 5

3 Dymola 2016 ............................................................................................................................. 6

3.1

Introduction ...................................................................................................................................................... 6

3.1.1

Additions and improvements in Dymola ................................................................................................ 6

3.1.2

New and updated libraries ...................................................................................................................... 7

3.2

Developing a model ......................................................................................................................................... 8

3.2.1

Filtering in the diagram layer ................................................................................................................. 8

3.2.2

Navigation improvements ....................................................................................................................... 9

3.2.3

Searching connections and connected components .............................................................................. 16

3.2.4

Drag & Drop of classes in the package browser ................................................................................... 17

3.2.5

Improved Modelica Text editor ............................................................................................................ 19

3.2.6

Improved documentation layer ............................................................................................................. 19

3.2.7

Improved Used Classes layer ................................................................................................................ 23

3.2.8

Support for including resources in Save Total ...................................................................................... 23

3.2.9

Minor improvements ............................................................................................................................ 25

3.3

Simulating a model ........................................................................................................................................ 28

3.3.1

Plot dependencies ................................................................................................................................. 28

3.3.2

Plot window .......................................................................................................................................... 35

3.3.3

Command window ................................................................................................................................ 44

3.3.4

Scripting ............................................................................................................................................... 44

3.3.5

Minor improvements ............................................................................................................................ 46

3.4

Installation ...................................................................................................................................................... 48

3.4.1

Installation on Windows ....................................................................................................................... 48

3.4.2

Installation on Linux ............................................................................................................................. 50

3.5

Model Management ....................................................................................................................................... 51

3.5.1

Licensing libraries ................................................................................................................................ 51

3.6

Other Simulation Environments ..................................................................................................................... 51

3.6.1

Dymola – Matlab interface ................................................................................................................... 51

3.6.2

Real-time simulation ............................................................................................................................. 51

3.6.3

OPC Communication ............................................................................................................................ 52

3.6.4

Java Interface for Dymola .................................................................................................................... 52

3.6.5

FMI Support in Dymola ....................................................................................................................... 52

3.6.6

Source Code Generation ....................................................................................................................... 55

3

3.7

Advanced Modelica Support .......................................................................................................................... 56

3.7.1

External functions in other languages ................................................................................................... 56

3.8

New libraries .................................................................................................................................................. 57

3.8.1

Human Comfort Library ....................................................................................................................... 57

3.9

Updated libraries ............................................................................................................................................ 60

3.9.1

Air Conditioning Library ...................................................................................................................... 60

3.9.2

Design Library ...................................................................................................................................... 61

3.9.3

Electric Power Library .......................................................................................................................... 61

3.9.4

Engine Dynamics Library ..................................................................................................................... 61

3.9.5

Flexible Bodies Library ........................................................................................................................ 61

3.9.6

Fuel Cell Library .................................................................................................................................. 61

3.9.7

Heat Exchanger Library ........................................................................................................................ 62

3.9.8

Hydraulics Library ................................................................................................................................ 62

3.9.9

Hydro Power Library ............................................................................................................................ 63

3.9.10

Liquid Cooling Library ......................................................................................................................... 64

3.9.11

Model Management Library ................................................................................................................. 64

3.9.12

Plot3D Library ...................................................................................................................................... 64

3.9.13

Pneumatics Library ............................................................................................................................... 64

3.9.14

Thermal Power Library ........................................................................................................................ 65

3.9.15

Vapor Cycle Library ............................................................................................................................. 66

3.9.16

Vehicle Dynamics Library .................................................................................................................... 66

3.10

Documentation .......................................................................................................................................... 67

3.11

Appendix – Installation: Hardware and Software Requirements .............................................................. 68

3.11.1

Hardware requirements/recommendations ........................................................................................... 68

3.11.2

Software requirements .......................................................................................................................... 68

4

1 Important notes on Dymola

Installation on Windows

To translate models on Windows, you must also install a supported compiler. The compiler is not distributed with Dymola. Note that administrator privileges are required for installation. Two types of compilers are supported on Windows in Dymola 2016:

Microsoft Visual Studio C++

This is the recommended compiler for professional users. 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 “Compilers” on page 68

for more information.

GCC

Dymola 2016 has limited support for the MinGW GCC compiler, 32-bit and 64-bit. For

more information about GCC, see section “Extended GCC compiler support” on page 48.

Installation on Linux

To translate models, Linux relies on a GCC compiler, which is usually part of the Linux

distribution. Refer to section “Supported Linux versions and compilers” on page 69 for

more information.

2 About this booklet

This booklet covers Dymola 2016. 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 2016 Release Notes 5

3 Dymola 2016

3.1 Introduction

3.1.1 Additions and improvements in Dymola

A number of improvements and additions have been implemented in Dymola 2016. In particular, Dymola 2016 provides:

Filtering in the diagram layer (page 8).

Navigation improvements o

Tabs in main window (page 9).

o

Instance hierarchy (page 15).

Searching connections and connected components (page 16).

Drag & drop of classes in the package browser (page 17).

Improvements in the Documentation layer: o

Improved navigation between editors (page 19).

o Improved documentation editor, including table creation and edition

(page 20).

Improved coverage for Flat Modelica (page 23).

Support for including resources in Save Total (page 23).

Displaying variable dependencies by plotting (page 28).

Plot handling improvements: o

Drag & drop of curves between plots/diagrams (page 35).

o

Multiple y-axes in plots (page 36).

GCC compiler support enhanced: o

64-bit GCC supported o FMU export support for GCC compilers

Improved language handling, in particular for Japanese (page 50).

Licensing of third party libraries on Windows (page 51).

Extended FMI support (page 53):

o

Multiple instantiation of FMUs supported (page 52).

o

Enhanced FMU Export from Simulink (page 53):

 Support for FMI versions 1.0 and 2.0.

 Support for Co-Simulation with Simulink fixed-step solvers.

Multi-threaded code and model export (page 55).

6

3.1.2 New and updated libraries

New libraries

The following libraries are new:

Human Comfort Library, version 1.4.1.

For more information about the new library, please see the section “New libraries” starting on page 57.

Updated libraries

The following libraries have been updated:

Air Conditioning Library, version 1.10.

Design Library, version 1.0.4.

Electric Power Library, version 2.2.1.

Engine Dynamics Library, version 1.2.3.

Flexible Bodies Library, version 2.1.1.

Fuel Cell Library, version 1.3.1.

Heat Exchanger Library, version 1.3.

Hydraulics Library, version 4.2.

Hydro Power Library, version 2.4.2.

Liquid Cooling Library, version 1.4.

Model Management Library, version 1.1.4.

Plot3D Library, version 1.0.4.

Pneumatics Library, version 1.7.

Thermal Power Library, version 1.10.

Vapor Cycle Library, version 1.2.1.

Vehicle Dynamics Library, version 2.1.

For more information about the updated libraries, please see the section “Updated libraries” starting on page 60.

Dymola 2016 Release Notes 7

3.2 Developing a model

3.2.1 Filtering in the diagram layer

The diagram layer can now be filtered to dim components from selected packages. The menu is reached by right-clicking, with nothing selected, in an empty space in the diagram layer, and selecting

View Filter…

. The command can also be activated by

Edit > View

Filter…

.

8

The dialog gives possibilities to select all, or to deselect all packages, and to control the opacity from fully visible to invisible.

The feature is important when for example trying to track what components have been inserted that are not from e. g. Modelica Standard Library.

Note that the filtering is connector based:

If any of the connectors of a component is extended from a base class that is part of a deselected package, that connector is seen as “filtered”.

If all connectors of a component are seen as “filtered”, the component is dimmed.

The above means that if a component has at least one connector that extends from a base class not being deselected, the component is not dimmed.

3.2.2 Navigation improvements

Tabs in main window

More than one model can be open in the main window in Dymola 2016.

The tabs can be rearranged by dragging them.

Opening of tabs

When Dymola is opened, one tab is opened as well.

When creating a new class (except packages) using the command

File > New

(or corresponding button), the new class is opened in a new tab.

A number of context menus have been enhanced with a new context command

Open Class in New Tab

. Some examples:

Dymola 2016 Release Notes 9

Context menu for class in package browser and component in component browser

10

Context menu in Modelica Text layer

Dymola 2016 Release Notes 11

Context menu of component in diagram layer

Closing of tabs

Clicking the red cross of a tab closes it. If a model that is displayed in a tab is unloaded, the tab is also closed.

12

Context menu of tabs

Each tab has a context menu:

List of tabs

A list of the tabs is available to the right in the tabs toolbar:

Dymola 2016 Release Notes 13

Display of tabs

The display of tabs can be controlled by the command

Window > Tools

:

Changes of other navigation commands due to the new tabs

Due to the new tabs, the

Previous

and

Next

buttons have changed to display “previous” and

“next” in the active tab.

14

Instance hierarchy

In Dymola 2016, a toolbar displaying the instance hierarchy to the opened component is displayed in the upper left of the main window:

You can navigate by clicking in the instance hierarchy toolbar, for example:

If the top level is open, the Dymola icon to the left is displayed dimmed (see figure in previous section).

The display of instance hierarchy can be controlled by the command

Window > Tools

:

Dymola 2016 Release Notes 15

16

3.2.3 Searching connections and connected components

In large models with expandable connectors it might be hard to see where signals are created and used. To facilitate investigating such models you can search connections, and the corresponding connected components, by the command

Find Connection

from the context menu of a connection in the diagram layer.

The search lists the connectors grouped by the connector type.

An example of a search:

Some features of the command:

The search is based on what is shown in the diagram layer when starting the search.

Clicking a result will select the corresponding component; if the component is inside another component than the one displayed, the

Show Component

command is used automatically to display the diagram of that component to select the searched component. This navigation does not influence the search; you can still select another component. You can go back to the original zooming by clicking the button after

Find connection in component

.

The command is also always available as

Edit > Find Connection

.

Find Connection

is also available in simulation mode.

3.2.4 Drag & Drop of classes in the package browser

In Dymola 2016, classes in the package browser can be dragged and dropped; this makes for example rearranging of the classes in a package more convenient.

When dragging a class to a location in another top level package than where the class resides, the

Move Modelica Class

dialog is opened, to let the user use this dialog to conclude the moving of the class.

Furthermore:

Pressing

Ctrl

while dragging gives copying. If the class is dragged to a location in another top level package than where the class resides, the

Copy Modelica Class

dialog is opened, to let the user use this dialog to conclude the duplication of the class.

Dymola 2016 Release Notes 17

Cut

,

Copy

and

Paste

are available in the package browser. These commands work the same as drag and drop.

18

3.2.5 Improved Modelica Text editor

Mathematical Notation in toolbar

The mathematical notation of the Modelica Text editor is now reached by a

Mathematical

Notation

button in a new toolbar of the editor. The previous context command has been removed.

To go back to the ordinary Modelica Text, a

Modelica Text

button is available in the toolbar.

3.2.6 Improved documentation layer

Improved navigation between editors

Buttons for editors improves the navigation between layers; context menus for navigation are not used anymore.

Dymola 2016 Release Notes 19

The above is the default; the formatted documentation layer, without any editing possibilities.

Clicking

Info Editor

gives the info editor (given the class is not read-only):

Clicking

Info Source

gives the HTML code of the info editor. Changes can only be made if the class is not read-only.

Clicking

Revisions Editor

or

Revisions Source

editor/HTML code of revisions, respectively.

Improved documentation editor

gives the revision

Any of the commands

Info Editor

or

Revisions Editor

editor. The editor has been enhanced with a number of new features:

gives a documentation

20

Font (1) and font size (2)

Concerning font size, it is possible to enter a value directly in the box, or to edit an existing one.

Subscript/Superscript (3)

Clicking any of these gives subscript/superscript for the selected text.

Text color/background color (4)

Using these buttons text and background color can be selected.

Clicking the arrow of any of these buttons gives a color selection menu (the example below is for the background):

Dymola 2016 Release Notes 21

Here any basic or custom color can be selected. Custom colors can be added by using the color definition boxes to the right, then clicking

Add to Custom Colors

.

Selecting a text and then setting the color of the text or background, will also define the color selection as default, and change the color under the button accordingly. If the default color selection is to be used, it is sufficient to just click the button when a text is selected, to get the default color.

Decrease/Increase indent (5)

Insert Table (6)

The number of rows and columns are selected by the mouse.

A context menu in the created table enables adding/removing columns and rows:

22

3.2.7 Improved Used Classes layer

Improved coverage for Flat Modelica

In Dymola 2016, the following items have been added to the Flat Modelica representation:

Media packages

Connectors

Partial models

Functions

Type and other short class definitions

Attributes of inherited classes (e.g. buses)

In particular, the support of Flat Modelica for media packages makes it possible to display the code for used media functions, this was previously not possible.

Flat Modelica in toolbar

Flat Modelica is now available as a

Flat Modelica

button in a new toolbar. The corresponding command in the context menu has been removed.

Going back to ordinary display of Used Classes is done by clicking the

Used Classes

button in the toolbar.

3.2.8 Support for including resources in Save Total

The command

File > Save Total…

has been extended to include used resources. Whether to include resources is decided by selecting type of file to save:

Dymola 2016 Release Notes 23

24

The new alternative

Modelica Zip-archive with resources (*.zip)

generates one zip file with the active class, and all used classes – and resources.

Unzipping the zip archive and opening the main .mo file inside will also include the resources, in particular the following scenarios now work:

A model using tables in Modelica Standard Library 3.2.1.

A model using images from the resource directory.

A model using dxf files from the resource directory for animation.

There are two flags that can be used to include documentation/images in the zip file – the default is not to include documentation/images, since this is memory-consuming.

• Advanced.SaveTotal.CopyDocumentation

– this flag can be set to true if documentation should be included in the zip directory. “documentation” is here defined as directories named Documentation or files with suffix pdf, ppt, doc, docx, html, ott, and css. The flag is by default false. Note that other file formats than the ones listed are always included, e.g. files with suffix pptx.

• Advanced.SaveTotal.CopyImages –

this flag is by default true, meaning that images are by default included in the zip directory. “images” is here defined as directories named Images, or files with suffix png or gif. If images should not be included, the flag can be set to false. Note that other file formats than the ones listed are always included, e.g. files with suffix stl and jpg.

Note. Save Total with resources on Linux requires the Linux utility “zip”. If not already installed, please install using your packaging manager (e. g. apt-get) or see e. g. http://www.info-zip.org

.

3.2.9 Minor improvements

Toolbar button for “New”

A new button is available in the upper toolbar, to facilitate creating a new item easily.

Clicking on the arrow displays the alternatives above, clicking the button displays the dialog for creating a new model.

Selectable action when double-clicking a component

The default action when double-clicking a component is to display the parameter dialog.

This action can be changed to instead activating the command

Show Component

. The selection is made by using the command

Edit > Options…

, the

Appearance

tab:

Dymola 2016 Release Notes 25

26

The setting is stored by the flag

Advanced.ComponentDoubleClickAction

and is saved when saving settings.

Undo available for Split Model

Edit > Undo

or

Ctrl+Z

now also work when you have used the

Split Model

command to create a submodel or copy to base class. (When you have used the command

Split Model >

Copy to model

, undo does not work, but for this command it is easy to just remove the created model.)

Edit > Redo

or

Ctrl+Y

work as well.

Copy/Paste from matrices in e.g. Microsoft Excel to Dymola matrix editor

A new context command button

Paste Matrix

is available in the matrix editor to insert table cells copied from Microsoft Excel or Matlab.

If the number of rows and columns of the cells to paste is not the same as the number of rows and columns in the existing matrix, a warning is issued.

Improved bus signal tracing

The tracing of bus signals (expandable connectors) that was introduced in Dymola 2015

FD01 has been further improved; longer bus signal names are used to clarify what signal is presented.

Note also the use of the new command

Find Connection

(see section “Searching connections and connected components” on page 16).

Changed annotation LinePattern.None in connect annotations

In Dymola 2016 the annotation

LinePattern.None

in connections or lines is changed to mean that such items are hidden.

To convert such annotations to instead display them (the previous behavior), the new builtin function updateModelicaAnnotations(

" packageName

"

)

can be used, where packageName

is the name of the package to be converted.

Mnemonics updated to be consistent with other Microsoft Windows applications

The mnemonics (using keyboard keys to navigate in the command menus) have been updated to be consistent with other Microsoft Windows applications.

More default colors for text objects

Brown, Orange, and Purple have been added to the default color selection for graphical text objects.

Dymola 2016 Release Notes 27

3.3

Removed subheader in the component browser

In order to save useful space, the subheader “Components” has been removed from the component browser.

Simulating a model

3.3.1 Plot dependencies

In Dymola 2016 it is possible to display the dependencies of a selected variable by plotting them. This facilitates browsing of results to understand the behavior for normal simulations, as well as debugging it.

Introduction

Dymola converts the differential-algebraic system of equations symbolically to differential equations in state-space form, i.e. solves for the derivatives. The steps include index reduction and state selection.

Efficient graph-theoretical algorithms are used to determine which variables to solve for in each equation and to find minimal systems of equations to be solved simultaneously

(algebraic loops). Thus the problem of calculating the derivatives and all other variables but the states at a time instance is a sequence of problems that can be solved in turn. (See further

Section 8.8 “Symbolic Processing of Modelica Models” in the manual “Dymola User

Manual Volume 2”.)

It means that a computational causality has been assigned to the variables and the equations.

Such a subproblem may be a scalar problem consisting of one scalar variable and one equation. It may be several variables assigned by a record equation, an array equation, a multi-returning function or an algorithm. In the general case, it is mixed system of equations including Boolean, integer and real variables. All unknown variables to be solved for from the equations depend in the general case on all other time-varying variables appearing in the equations of the subproblem. Thus these variables are considered to be depend of each unknown of the subproblem. The dependet variables are all calculated from subproblems appearing earlier in the sorted sequence of subproblems.

By plotting the dependencies of a variable and recursively plotting their dependencies, it would hopefully be possible to understand or identify the reasons or origin of observed behaviors.

Below an example is given to illustrate this.

As described below it is simple have the behavior of the dependency variables of a time dependent variable, v, plotted.

When plot of dependencies are activated, the simulation will also store the behavior of protected variables.

28

The legend includes the equation from which the variable is calculated, however, in case the variable is solved from an algebraic loop, no explicit equation are given, but it is indicated whether it is a linear, nonlinear or mixed system of equations.

Simple equations v1=v2 are frequent in Modelica models due to connections. Such equations are exploited by Dymola to eliminate the variable from the calculation and turn it into an alias variable to allow it to be plotted. Plotting of its dependencies is supported. If v1

= v2 is used to eliminate v1, then if v2 is solved from a simple equation v2 = e, then the legend will be v1 = v2 = e; and the incidences of v2 are plotted. In other more complicated cases the legend will be v1 = v2 and v2 will be displayed to allow further traversing of the dependencies.

It is also possible to plot the dependencies of a continuous-time state, x. It gives the dependencies of its derivative, der(x) and the equation displayed in the legend is

“x=Integral(der(x))”.

Applying plot dependencies

To enable plotting of dependencies, the setting

Provide variable dependencies for plotting

must be ticked in the simulation setup, before running a simulation. The setting can be reached by the command

Simulate > Setup…

, the

Translation

tab.

This setting corresponds to the flag

Advanced.GenerateVariableDependencies = true;

. By default the setting is unticked, and the flag is false

.

Note that this setting also automatically activates storing of all types of variables, corresponding to the settings in the two groups

Store

and

Store additional variables

, in the

Dymola 2016 Release Notes 29

Output

tab in the simulation setup, independently whether those settings are seen as activated in the tab or not.

To display the dependencies for a variable in a model, simulate the model, then right-click the variable in the variable browser, and select

Plot Dependencies

.

Note that you can also display the dependencies for a variable by right-clicking the corresponding curve and select

Plot Dependencies

from the context menu.

A new plot window is displayed; the variable and dependencies are plotted in the new window. If more than 20 curves are to be displayed, more windows are opened, with a maximum of 20 curves in each. This maximum number of 20 curves per window can be changed by the flag

Advanced.DependenciesPerPlot

.

The heading of the plot window is the equation of the variable.

A simple example, for the variable axis1.gear.gear.flange_a.tau

in the Robot demo

(corresponding to the selection in the above figure):

30

The variable for which the dependencies are plotted is dashed in the plot.

Notes:

The feature of dragging curves between plot windows and diagrams – this feature can

be useful for the plot dependency windows. See section “Drag & Drop of curves between plots/diagrams” on page 35 for more information.

There might be a number of plot windows after a while. You can close them all by the command

Window > Close All Windows

.

Dymola 2016 Release Notes 31

An example

Running the demo CoupledClutches (

File > Demos > Coupled clutches

) we notice that the acceleration of the mass J3 jumps at certain times:

32

Let us investigate the change of acceleration at t=0.79. First we plot the dependencies for

J3.a, (easiest done by right-clicking the curve and select

Plot Dependencies

) then we can center the result on t=0.79 by zooming around that time (by Shift+drag).

Having the result, we pause over the curve legends, one legend at the time, to see each variable highlighted in the plot, until we find something interesting:

Plotting the dependencies for clutch1.mode (and zooming, and arranging the legends to the right using the plot setup menu), we get:

Dymola 2016 Release Notes 33

34

We realize that the change was due to clutch1.w_rel reaching zero and the clutch switching to stuck mode.

Note that double-clicking the equation in the header displays it in a more user-friendly way:

3.3.2 Plot window

Drag & Drop of curves between plots/diagrams

Curves can be dragged and dropped between plots or diagrams by dragging and dropping the curve legend:

Signal operators are included, if any.

Note that you can drag several curves at the same time, by first clicking several curve legends, and dragging them.

Dymola 2016 Release Notes 35

Multiple vertical axes in plot window

Two vertical axes are supported in the plot window, one to the left (the primary one) and one (secondary) to the right.

Gridlines are drawn for the primary axis only.

Plotting always uses the primary (left) axis by default. To use a secondary axis for a variable, right-click the curve and select

Right Vertical Axis

from the context menu:

36

You can also use the plot setup, reached by right-clicking and selecting

Setup…

(Or use the command

Plot > Setup…

), in particular to move multiple variables to the secondary axis.

In the plot setup, in the

Variables

tab, select one or more variables, and then, in the

Vertical axis

combo box, select

Right Axis

. The variable(s) will be associated with the secondary axis to the right. If such an axis does not exist, it will be created.

Dymola 2016 Release Notes 37

38

To edit title to the secondary axis (variable description being default), use the

Vertical axis title (optional right axis)

group in the

Titles

tab in the plot setup.

To edit the range of the secondary axis, use the group

Vertical range (optional right axis)

in the

Range

tab of the plot setup.

Dymola 2016 Release Notes 39

Manual tuning can be made here to match the two y-axes.

Concerning scripting, see below.

40

Filled background for signal operator labels selectable

To increase the visibility of signal operator labels when they for example overlap curves, filled background can be selected for them.

Filled background for a signal operator label can be selected when editing a signal operator by double-clicking on it:

Filled background for the label can also be changed using the context menu for the signal operator:

The default is no background for the signal operator label.

Dymola 2016 Release Notes 41

Easier access to change curve color, line style, marker style, and thickness

Setting color, line style, marker style, and thickness of curves can now be done from the context menu for a curve or a legend, without entering the plot setup.

42

Command for selection of all curves in a diagram

A new context command is available in the diagram,

Select All

. The command selects all curves in the diagram.

The command is also available as

Edit > Select All

, if a plot window is selected.

The command can be valuable when working with many curves (for example working with plot dependency); selecting all curves, then deselecting some by clicking them, and then dragging the selected one to a new plot window might be a typical action.

Legend name can be changed by double-clicking the legend

Double-clicking a legend brings up a menu for changing the name.

More default colors

Brown, Orange, and Purple have been added to the default color selection for curves and text objects in plots, see image above for curves.

Auto assign of line styles after colors, instead of marker styles after colors, for additional curves

In Dymola 2016 line styles are auto assigned for additional curves when all default colors are used. Previously marker styles were used.

Dymola 2016 Release Notes 43

3.3.3 Command window

Improved editing in the command window

Improvements of the HTML editor improve the editing in the command window; for

improvements, see section “Improved documentation editor”, starting on page 20, for details.

3.3.4 Scripting

Signal operators available for plotted arrays like FFT (Fast Fourier

Transform) in scripting

If a legend is specified for a plotted array, this legend can be used by the built-in function plotSignalOperator

to plot signal operators for the plotted array.

As an example calculating max on an FFT, consider a script like (given that the demo

Coupled Clutches is simulated before running the script): createPlot(1, subPlot=2, erase=false, grid=true, leftTitleType=2, leftTitle="Amplitude",

bottomTitleType=2, bottomTitle="Frequency (Hz)");

(freqPart, powers) = SignalOperators.Fourier.calculateFFT("CoupledClutches.mat",

{"J1.der(w)"}, 0, 1.2, 501, 50, SignalOperators.Windows.Windowing.Rectangular); plotArrays(freqPart, powers, legend={"J1.der(w)"}, id=1, title="Frequency Analysis (FFT)"); plotSignalOperator("J1.der(w)", SignalOperator.Max, 0, 30, 0, 1);

(This script is actually created by creating the FFT and signal operator by GUI, and then making a script from the output in the commands window.)

The result is:

44

Support in scripting for multiple vertical axis in plot window

Several script commands for plotting have been updated to support multiple vertical axes, for example createPlot()

, plot()

and plotArray()

. The details can be found using the “help” command; a simple example plotting w on the left axis and tau on the right is: plot({"J1.w","J1.flange_b.tau"}, axes={1,2});

Managing Modelica path settings from within Dymola

A new built-in function can be used to manage the Modelica path (MODELICAPATH) from within Dymola:

AddModelicaPath(path, erase=false);

The function appends a directory, specified by the string variable path

, to the Modelica path (unless erase=true

).

An alternative is to use

Modelica.Utilities.System.setEnvironmentVariable("MODELICAPATH",

"…");

Notes:

The menus

File > Libraries

and

File > Demos

are now rebuilt after a change of

MODELICAPATH.

Dymola 2016 Release Notes 45

To keep the change of Modelica path between sessions, this function has to be added in setup.mos. It is currently not possible to store the change of the Modelica path from

GUI.

Changing the default directory

To change the default directory, a new built-in function has been added:

ChangeDefaultDirectory(path);

The function changes the default working directory of Dymola from

…My

Documents\Dymola

to the value of the string variable path

.

The difference from the built-in function cd

is that the new function is ignored if Dymola is started from a short-cut starting in another directory than the default directory

…My

Documents\Dymola.

Note. To keep the change of default directory between sessions, this function has to be added in setup.mos. It is currently not possible to store the new default directory from GUI.

3.3.5 Minor improvements

Improved compiler selection

In the 64-bit version of Dymola, the flag

Advanced.CompileWith64

for setting if models should be compiled as 32-bit or 64-bit executables, has been improved. The default value 0 of the flag now also adapt to existing version of external libraries – if external libraries only exist as either 32-bit or 64-bit, the variant that allows linking is automatically selected.

However, dymosim.dll is always compiled as 64-bit.

Furthermore, the messages in the log have been improved, with e.g. warnings that libraries corresponding to a certain setting do not exist.

Source code generation features for normal translation

More readable, traceable and efficient code for e.g. debug purposes can be generated by

normal translation, if a specific flag is set. See the corresponding section in “Source Code

Generation” starting on page 55 for more information.

Improved support for high resolution images from animations

To obtain high resolution images from animation, the flag

Advanced.ExportAnimationWidth

can be set to the wanted width for the exported bitmap image (an example is

Advanced.ExportAnimationWidth=750;)

. Having set this flag, and then generated the animation, the animation image can be exported by selecting the animation window, and then using the command

File > Export > Image…

.

The flag is by default 0, meaning that the flag is not used. The flag is not stored between sessions.

46

Parallelization improvements

When using external functions in parallel code it is now by default not assumed that the functions are thread-safe; this means that all external function calls are seen as a critical region, and only one external function will execute at the same time.

This avoids unpredictable results, at the cost of efficiency. If you are certain that a specific external function is thread-safe, you the override the above for this function, with the following annotation in the external function: annotation(__Dymola_ThreadSafe=true);

If the external functions are in a read-only library, you can set the flag

Advanced.ExternalFunctionCritical = false; to indicate that the external functions are by default thread-safe – and to get the same behavior as in previous versions of Dymola.

In addition you can use the annotation annotation(__Dymola_CriticalRegion="CLanguageIdentifier");

This indicates that the function is not thread-safe, and will create a named critical region.

This ensures that only one external function with the same identifier will execute at the same time (but other functions may execute in parallel) - regardless of the setting of

Advanced.ExternalFunctionCritical

.

Dymola 2016 Release Notes 47

3.4 Installation

For the current list of hardware and software requirements, please see chapter “Appendix –

Installation: Hardware and Software Requirements” starting on page 68.

3.4.1 Installation on Windows

Compilers

Compiler performance improvements

The Visual Studio 2013 and 2012 compilers generates a bit less efficient code than previous versions of the compiler, with the selected optimization settings. Dymola´s code generation has been tuned to avoid this problem.

You can still set the flag

Advanced.Define.GlobalOptimizations = 2; before generating code, to activate the global optimization in the compiler, but the effect on the simulation performance is now small for all versions of the compiler. (The default value of the flag is 0.) Note that although the simulation performance is somewhat improved setting this flag, the compilation of the code may take substantially longer time for large models. The setting corresponds to the compiler command

/Og

.

Extended GCC compiler support

In Dymola 2016, the following enhancements have been implemented:

Support for 64-bit GCC.

Support for FMU export.

Currently supported GCC versions (and compatibles) are:

32-bit: MinGW GCC 4.8.1.

64-bit: MinGW GCC 4.9.2.

To download any of these free compilers, please visit http://www.Dymola.com/compiler where the latest links to downloading the compilers are available. Needed add-ons etc are also specified here. Note that you need administrator rights to install the compiler.

Current limitations with 32-bit and 64-bit GCC:

Embedded servers (DDE or OPC servers) are not supported.

Commercial libraries: Only limited testing has been done.

Support for external library resources is implemented, but requires that the resources support GCC, which is often not the case.

No support for run-time license.

For 32-bit simulation, parallelization is only supported with any of the Lsodar, Dassl,

Euler, Rkfix2, Rkfix3, or Rkfix4 algorithms.

48

Notes on GCC compiler selection:

If the default path must be changed, browse for the gcc.exe

file.

Redundant license servers

Already in the previous version of Dymola, three license servers could be entered, separated by space, if redundant license servers were needed. Note that only one or three servers are supported.

Dymola 2016 Release Notes 49

Improved language handling, in particular for Japanese

In Dymola 2016, the selection of translation file for Dymola is by default based on the regional language setting. For Japanese, the previous installation option

Japanese translation

has been removed.

Currently only English and Japanese are available in Dymola.

If the regional language setting should not be used, there are two ways of overriding it.

The first is to use a command line setting of the language:

-translation <language>

.

Two examples are important:

A customer that wants to run Dymola in Japanese on a machine with regional language setting other than Japanese. This can be done by starting Dymola with the command

“C:\Program Files (x86)\Dymola 2016\bin64\Dymola.exe” –translation ja

(given using a 64-bit Dymola from the default location).

A customer that wants to run Dymola in English on a machine with regional language setting Japanese. This can be done by starting Dymola with the command

“C:\Program Files (x86)\Dymola 2016\bin64\Dymola.exe” –translation none

(given using a 64-bit Dymola from the default location).

The second way to override the default selection of translation file is to specify what translation file to use, this can be done with the command line option

–translationfile

"

<filename.qm>

" when starting Dymola. One specific opportunity here is to use a translation file other that the one in the Dymola distribution. The file can be located anywhere on the machine, since the command line option demands the path of the file to be specified. An example could be to start Dymola with the command

“C:\Program Files (x86)\Dymola 2016\bin64\Dymola.exe” –translationfile ”E:\Extra\

NewJapaneseTranslationFile.qm”

(given using a 64-bit Dymola from the default location, and a translation file NewJapaneseTranslationFile.qm located in E:\Extra).

Note that command line options can be included in operating system shortcuts to Dymola.

Japanese keyboard support improved

In Dymola 2016, the Japanese keyboard IME toggle key is supported, if the environment variable

DYMOLA_KEY_SPECIAL

is set to either

*

or

123

.

3.4.2 Installation on Linux

Redundant license servers

The same feature as for Windows apply, see above.

Japanese keyboard support improved

The same support is valid as for Windows, see above.

50

3.5

3.6

Model Management

3.5.1 Licensing libraries

Licensing of third party licenses for node-locked licenses already available, Dymola 2016 supports also licensing of third party libraries for sharable licenses. Note that this feature currently is only available on Windows.

Third party library vendors, please contact you support channel/sales representative for additional information, documentation, and examples.

Other Simulation Environments

3.6.1 Dymola – Matlab interface

Compatibility

The Dymola – Simulink interface now supports Matlab releases from R2010a (ver. 7.10) up to R2014b (ver. 8.4). Only Visual Studio C++ compilers are supported to generate the

DymolaBlock S-function. The LCC compiler is not supported.

3.6.2 Real-time simulation

Compatibility – dSPACE

Dymola 2016 generated code has been verified for compatibility with the following combinations of dSPACE and Matlab releases.

dSPACE DS1005 and DS1006 platforms

• dSPACE Release 6.6 with Matlab R2010a dSPACE Release 7.0 with Matlab R2009bSP1 and R2010bSP2 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 R2012b dSPACE Release 2013-A with Matlab R2013a dSPACE Release 2013-B with Matlab R2013b dSPACE Release 2014-A with Matlab R2013b and R2014a dSPACE Release 2014-B with Matlab R2013b, R2014a, and R2014b

SCALEXIO

• dSPACE Release 7.4 with Matlab R2012b

Dymola 2016 Release Notes 51

52

• dSPACE Release 2013-A with Matlab R2013a dSPACE Release 2013-B with Matlab R2013b dSPACE Release 2014-A with Matlab R2013b and R2014a dSPACE Release 2014-B with Matlab R2013b, R2014a, and R2014b

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.

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 R2010a (xPC Target ver. 4.3) to R2014b (Simulink Real-Time ver. 6.1). Only Microsoft Visual C compilers have been tested.

3.6.3 OPC Communication

The support for OPC communication now also includes the Visual Studio 2012 compiler; presently Visual Studio 2008, 2010, and 2012 compilers are supported.

3.6.4 Java Interface for Dymola

The Java interface for Dymola was previously only supported on Windows; it is now also supported on Linux.

3.6.5 FMI Support in Dymola

Unless otherwise stated, features are available both for FMI version 1.0 and version 2.0.

Multiple instantiation of an FMU supported

FMUs generated by Dymola 2016 support multiple instantiation. This means that the same

FMU can be used several times in the same model.

The generated XML files are now also updated to correctly indicate that the model can be instantiated multiple times.

Restrictions:

Multiple instances are currently not supported for co-simulation with Dymola solvers.

The old table handling, corresponding to tables in previous versions of Modelica

Standard Library (3.2 or older) is not supported. If you have user models with such old table handling, those must be updated to use this feature.

The support for multiple instances has a run-time cost; you can therefore disable the support for multiple instances by setting the flag (the flag is by default true):

Advanced.AllowMultipleInstances = false;

Enhanced FMI support in Simulink

FMU export from Simulink

A new and enhanced version (2.0) of the Dassault Systèmes FMU Export from Simulink package is available. The new version supports:

FMI versions 1.0 and 2.0

Model Exchange and Co-simulation

Co-simulation export with Simulink fixed-step solvers

Matlab/Simulink R2010a – R2014b (32-bit and 64-bit)

Visual Studio 2008 and later C compilers

General enhancements and reduced limitations, including support for all data types supported by Simulink (including signed/unsigned integers and boolean).

The FMU Export from Simulink package is located in the Mfiles folder of the Dymola

2016 distribution as rtwsfcnfmi.zip. See the README file in the package or consult the Dymola manual for installation and usage instructions.

The package can be used for free without any associated license.

Support and maintenance is offered to Dymola customers through the regular support channel at www.3ds.com/support .

FMU export supported on GCC compilers on Windows

FMU export is now supported for GCC compilers on Windows. For more information about

GCC, see section “Extended GCC compiler support” on page 48.

Note that FMU export is already supported on GCC on Linux.

Dymola 2016 Release Notes 53

Including protected variables in modelDescription.xml

Protected variables are by default not included in modelDescription.xml when using FMU export, but can be included by setting the flag

Advanced.FMI.xmlIgnoreProtected = false;

The flag is true by default.

Import of FMUs of FMI version 1.0 and version 2.0 to the same model supported

In Dymola 2016, import of both FMUs of FMI version 1.0 and version 2.0 to the same model is supported.

Improved display of information for an imported FMU

Information from the modelDescription.xml file of an imported FMU is now displayed in the information layer of the imported FMU.

54

3.6.6 Source Code Generation

Multi-threaded code and model export

Instantiation of multiple FMUs supported

FMUs generated by Dymola 2016 support multiple instantiation. See “Multiple instantiation of an FMU supported” on page 52.

Disable compilation

A new flag is now available; if compilation of a generated executable is not of interest, the compilation can be disabled by setting the flag

Advanced.CompileAfterTranslation=false

This will save some time. However, note that the compilation can detect some potential errors.

Source code generation features for normal translation

A new flag is available to be able to obtain the same features for normal translation as for source code generation when it comes to creating more readable, traceable, and efficient code that can be used for debug purposes.

These features correspond to the flags

Advanced.UseModelicaNamesForC

Advanced.OutputEquationTrace

Advanced.SubstituteVariablesUsedOnce

To be able to activate the corresponding features for normal translation, set

Advanced.SourceCodeExportNormal=true

The flag is by default false.

Note. To be able to use this flag:

You must have the SourceCodeGeneration license option.

Code export must not be disabled in

Help > License…

, the

Details

tab.

Dymola 2016 Release Notes 55

3.7 Advanced Modelica Support

3.7.1 External functions in other languages

C: linking with DLLs without wrapper libraries supported

In Dymola 2016, linking directly with a dll (without import-library) is supported also for

Windows (it was previously supported for Linux), when all the following is fulfilled:

The specified lib-file does not exist.

A corresponding dll-file exists.

There is an external function call.

There is no include-annotation.

56

3.8 New libraries

3.8.1 Human Comfort Library

The Human Comfort Library was developed within the European research project

EuroSysL-D and provides basic models to estimate the human comfort within an air conditioned zone, in the form of mathematical criteria, and also graphical visualization.

Furthermore, zone models, (e. g. for buildings) are established to apply the Human Comfort library for the design and optimization process of air conditioning systems for mobile and stationary applications.

Introduction

Today most air conditioning applications, especially when integrated in complex energy management systems, are obtained with respect to energy efficiency and stable supply.

Besides these “hard factors” for evaluation of an air conditioning system there is the fuzzier concept of the human comfort. A number of investigations are dealing with this issue. The basic standards of the Human Comfort library are:

DIN EN ISO 7730

ASHRAE Standard 55

Dutch Thermal Comfort Guideline.

Using these standards it is possible to quantify the individual and subjective comfort my means of characteristic numbers and standardized mathematical models.

Dymola 2016 Release Notes 57

It is one of the primary aims of the Human Comfort Library to provide the user with a powerful and intuitive Modelica library to analyze the thermal comfort within enclosed rooms.

To achieve this goal a close contact was held with industrial companies throughout the design and implementation phase, to match the user´s expectations and needs.

In result of this process the Human Comfort Library provides:

A framework compatible with the Modelica Standard Library, in particular the package for fluid flow modeling and control design.

Fundamental functions and models for the analysis and visualization of human comfort.

Concepts for the description of the occupant´s activity (metabolic rate) and clothing.

Fundamental models for the description of air conditioned zones like rooms, aircraft and automotive cabins.

58

An extensive set of examples discussing and illustrating the main features of the library.

Base classes for the definition of weather data based either on measurement or user definition.

On the base of the standards mentioned above, the human comfort can be quantified (and thus visualized, too). This leads to the following evaluation parameters:

PMV – the Predicted Mean Vote

PPD – Predicted Percentage of Dissatisfied

GTO – Calculation of weighted temperature exceeding hours

TO25/TO28 – Calculation of temperature exceeding hours

All of those evaluation criteria can be used for visualization by use of easy-to-use models.

This allows the user to get a detailed overview of the system of interest for an effective and intuitive interpretation of simulation results.

Library structure

Essential packages of the library are:

HumanComfort Package (Calculation and visualization of human comfort variables)

Zones Package (Zone models for rooms, vehicle cabins, and aircraft cabins)

Weather Package (Models for supplying weather data).

Dymola 2016 Release Notes 59

3.9 Updated libraries

Below is a short description of updated libraries. For a full description, please refer to the libraries documentation.

3.9.1 Air Conditioning Library

A new version 1.10 has been released.

New features

Introduction of a new system component System_ACL. Including this system component at the top level of a model makes it possible to set system settings, which will be propagated to component models using the inner/outer principle. A

System_ACL component with its default values will not affect the behavior of the model. System_ACL will automatically be added to the translated model if it is not done by the user.

The refrigerant connector variables are changed; the enthalpy flow rate is replaced by a specific enthalpy stream variable, in order to avoid discontinuities when accessing upstream enthalpy at zero-flow. It gives access to specific enthalpies in neighbor volumes independent of flow direction; previously only the upstream value could be accessed from inside a component.

Improvements

New shut-off variable u in refrigerant pressure loss models. By default this value is 1 and will not affect any result. By setting this variable equal to e.g. an output signal from a ramp, it is possible to shut off the flow.

New Boolean parameter generateEventAtPhaseTransition. Its value can be set in the

System_ACL and is by default false. Setting this value to true will trigger an event when a phase transition occurs in a control volume.

New Boolean parameter generateEventAtCritical. Its value can be set in the

System_ACL and is by default false. Setting this value to true will trigger an event when a control volume enters or exits the supercritical zone.

New Boolean parameter positiveFlow. Its value can be set in the System_ACL and is by default true. Setting this value to true will assume a positive flow direction.

Differentiating scheme option for the discretized refrigerant pipes. The scheme can be changed in System_ACL. It is possible to use a hybrid scheme which includes diffusion effects at low flow rates. The diffusion factor can be set in different ways.

One option permits the variation of the diffusion factor in the function of the mass flow.

StateSelection option for using pressure difference instead of pressure as state variable, accessible in System_ACL.

Introduction of new pressure loss correlations with the possibility to switch to a simplified model during simulation.

60

Conversion of user libraries

No conversion script is needed. However, any customized components may need to be adjusted due to the newly added stream variable in the two-phase flow connector.

3.9.2 Design Library

A minor version 1.0.4 has been released; the integrator CVODE is now supported in the calibration settings.

3.9.3 Electric Power Library

A new version 2.2.1 has been released, with minor changes.

Automatic conversion of user libraries from version 2.2 is supported using the included conversion script.

3.9.4 Engine Dynamics Library

A new version 1.2.3 has been released, with improved Modelica compliance.

No conversion of user libraries is needed.

3.9.5 Flexible Bodies Library

A new version 2.2.1 has been released; the library now supports both 32-bit and 64-bit versions on Windows and Linux.

3.9.6 Fuel Cell Library

A new version 1.3.1 has been released.

New features

Stoichiometries in membranes, burners and reactors are now calculated from the stoichiometry and stoichiometryMatrix functions in the ReactionGas media.

Improvements

Improved structure of FuelCell.Media.ReactionGas.ReactionProperties for increased readability. p, T, and X are now inputs.

Added possibility to parameterize flow and temperature boundaries in

FuelCell.Sources with enthalpy instead of temperature. Default behavior is the same as in earlier versions, i.e. parameterization with temperature.

The Index record is no longer part of FuelCell.Media.Templates.ReactionGas, it is replaced by the use of the substanceIndexVector function in media.

Moved gibbsReactionEnergy function to ReactionGas template.

Improved Modelica compliance.

Dymola 2016 Release Notes 61

Conversion of user libraries

Automatic conversion of user libraries from version 1.3 is supported using the included conversion script.

3.9.7 Heat Exchanger Library

A new version 1.3 has been released.

New features

The following new plate heat exchanger components are available, to be used in both counterflow and co-flow: o

Gas-liquid with plain plate surface. o

Gas-liquid with Chevron plate surface. o Liquid-liquid with plain plate surface. o

Liquid-liquid with Chevron plate surface. o

Gas-gas with plain plate surface. o

Gas-gas with Chevron plate surface.

Test benches for plate heat exchangers: gas-gas, liquid-gas, and liquid-liquid.

A set of heat transfer and pressure drop correlations for Chevron plate heat exchangers.

A new two-phase/air flattube heat exchanger component which contains a receiver after a given pass.

Improvements

Improved library documentation, in particular for the Kandlikar correlation.

Improved Modelica compliance.

Conversion of user libraries

Automatic conversion of user libraries from version 1.2 is supported using the included conversion script.

3.9.8 Hydraulics Library

A new version 4.2 has been released.

New features

Four new library examples are available: HatchCover, HydraulicLift, PumpAndMotor, and WaterHammer.

A completely new User´s Guide for Elements in Hydraulics.Elements.Information.

A new Hydraulic.Elements-component: PilotedCheckValve. An example model demonstrating this component is also included.

62

A new pressure source Sources.PressureSource with time dynamics, replacing the old

Sources.ControlledPressureSource.

Cavitation warnings now print the component name in the simulation log.

It is now possible to parameterize ThermoHydraulics fluids directly from tables.

A new, flexible, non-discritized line component Lines.Line replaces rigid lines. It is also possible to consider elastic wall in Volumes.OilVolume, MultiPortOilVolume and

Chamber.

It is now possible to plot the Reynolds number (variable Re) in Restrictions, to verify whether the flow is laminar or turbulent.

Derivatives are defined for all oil models (except MSLFluid and JetFuels) and restriction functions within Restrictions.Basic.Functions.

Added sensor dynamic components in Hydraulics.Sensors.NonIdeal.

Improvements

Directional Control Valves no longer generate a non-linear system of equations. The variable P_hyd previously generated a non-linear system, but dynamics is now introduced on this variable.

The start values of position and velocity in SpoolValve are now set as fixed.

Added low pressure warnings in pressure sources and limited pressure at vapor pressure.

Replaced the MSL component MassWithStopAndFriction with an equivivalent made from DualRoadWithStop, ElastoGap, and StribeckFriction. The component was used in PressureReliefValve and TwoStage_DCV_Spool.

Improved Lines documentation in Lines.Information and friction documentation in

Cylinders.

The oil icon is changed to the orange Hydraulics icon.

Hydraulics is now completely independent from the UserInteraction library.

Creation of a new subpackage Accumulators. Re-introduced previously depreciated accumulator components.

Conversion of user libraries

Automatic conversion of user libraries from version 4.1 is supported using the included conversion script.

3.9.9 Hydro Power Library

A new version 2.4.2 has been released.

Improvements

Improved model documentation.

Improved table directory compliance with Modelica.

Dymola 2016 Release Notes 63

64

Conversion of user libraries

No conversion from Hydro Power 2.4 is needed.

3.9.10 Liquid Cooling Library

A new version 1.4 has been released.

New features

Introduced the possibility to track trace components that are transported by the liquid.

Improvements

Improved Modelica compliance.

Conversion of user libraries

No conversion is needed.

3.9.11 Model Management Library

A minor version 1.1.4 has been released.

3.9.12 Plot3D Library

A minor version 1.0.4 has been released.

3.9.13 Pneumatics Library

A new version 1.7 has been released.

New features

Reduced number of cylinder models to one; DoubleActingCylinder. All old cylinder models are replaced with this model. The new cylinder model uses more numerically stable end stop and friction models, developed by Modelon as a complement to the models in Modelica Standard Library.

Added circle on the ports if the component has a volume or defined state.

Added new pressure drop components for many different geometries in

Restrictions.FlowResistances.

Fixed a Interface/Template-basic structure throughout the library.

Improvements

Tightened tolerances in many examples for cross compilation platform compatibility.

Changed nominal value on mass flow rate in long time to 1e-6 and conductance to 1e-

7

Added SpringDamper to booster component for numerical stability reasons.

The environment component now uses the Pneumatic top level icon.

Pneumatics library is now completely independent from the UserInteraction library.

Conversion of user libraries

Automatic conversion of user libraries from version 1.6.3 is supported using the included conversion script.

The conversion script does not handle some modifiers on the Cylinder component; this has to be fixed manually.

3.9.14 Thermal Power Library

A new version 1.10 has been released.

New features

Wall model with radial discretization. With this model it is possible to discretize a wall in radial direction which can be used for calculation of thermal stress.

Generic two phase heat exchanger.

Generic gas-gas heat exchanger.

Improvements

Improved Modelica compliance.

Combustion with variable Lower Heating Value. The LHV in SolidFuelCombustor has been changed from a parameter to an input variable. The SolidFuels media interface has also changed from the former LHV constant into a function to define a

LHV that is dependent of e.g. combustion.

The following replacements of models have been made. The new models have

TubeAndShell fluegas heat exchanger has been replaced by TubeShell. The new model has an improved interface which is more user-friendly and has support for more correlations.

• o

TubeAndShell fluegas heat exchanger has been replaced by TubeShell. o

Plate two-phase heat exchanger has been replaced by PlateHex. o

Plate gas – two-phase heat exchanger has been replaced with Plategas2ph.

New initialization parameter for SignalDefinedFan.

Conversion of user libraries

Automatic conversion from version 1.9 is supported using the included conversion script.

Dymola 2016 Release Notes 65

3.9.15 Vapor Cycle Library

A new version 1.2.1 has been released.

Improvements

Improved tutorial.

Improved documentation for the heat exchangers.

Improved Modelica compliance.

Conversion of user libraries

There is no need for conversion of user libraries.

3.9.16 Vehicle Dynamics Library

A new version 2.1 has been released.

New features

New OpenCRG Ground Model

The OpenCRG project provides open file formats and open source tools for the detailed description and evaluation of 3D road surfaces. OpenCRG data sets are designed to describe very detailed patches of road surfaces making them suitable for a broad range of applications including e.g. tire and driving simulations.

The OpenCRG ground model supports both binary and textual OpenCRG data files.

66

More information about OpenCRG and the OpenCRG project can be found on its website: http://opencrg.org

.

OpenCRG is a registered trademark of Daimler AG, Germany.

Planar Filtering for Wheel/Contact Calculation

A planar contact calculation filtering method has been added to the Generic contact calculation block. The planar filtering method calculates a center frame and contact frame based on a plane on the ground surface. The plane is defined by four contact points/frames.

The contact frames are located on the ground surface in the hub plane, but offset from the hub as defined by the offsetGrid parameter. This method is best suited for grounds with significant variation in height and road normal, as with the Belgian Block road pictured above.

There are now three choices for the filtering parameter of the Generic contact calculation block: None, Geometry weighted, and Planar. This new filtering method is selected by choosing "Planar".

New Tabular Steering Systems

Two new steering systems are added: GearTabular and RackTabular. These two steering systems allow you to define gear/rack displacements relative to steering wheel angle using tabular data. Two components, TabularLever and TabularRack, are added to allow creation of these models using existing steering templates.

Improvements

A wheel_number parameter is added to all wheel components. The wheel_number is often required in external tire force models. This parameter was previously used in the contact calculation and sensor components. For consistency, this parameter is added to the tire forces, hub and visualization interfaces. The wheel_number is propagated to all these components in the base wheel template.

Some suspension linkage templates were missing switchable mounts to allow you to attach the ride spring and damper to either of the lower control arm, upper control arm, or upright. The following templates are now enhanced: o

DoubleWishboneSTT2 o

DoubleWishboneSTT3 o DoubleWishboneTT2 o

DoubleWishboneTT3

3.10 Documentation

In the software distribution of Dymola 2016 Dymola User Manuals of version “March 2015

(Dymola 2016)” will be present; these manuals include all relevant features/improvements of Dymola 2016 presented in the Release notes.

Dymola 2016 Release Notes 67

3.11 Appendix – Installation: Hardware and Software

Requirements

Below the current hardware and software requirements for Dymola 2016 are listed.

3.11.1 Hardware requirements/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 if not using multi-core support; the simulation itself, by default, uses only one execution thread so there is no need for a “quad” processor. If using multi-core support, you might want to use more processors/cores.

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 4 GB of RAM for 32-bit architecture and 6 GB of RAM for 64-bit architecture.

3.11.2 Software requirements

Microsoft Windows

Dymola versions on Windows and Windows operating systems versions

Dymola 2016 is supported, as 32- and 64-bit application, on Microsoft Windows 7 and

Windows 8.1. 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.

Compilers

Please note that for the Windows platform, a Microsoft C/C++ compiler, or a GCC compiler, must be installed separately. The following compilers are supported for Dymola

2016 on Windows:

Microsoft C/C++ compilers, free editions:

Visual Studio 2008 Express Edition (9.0)

Visual C++ 2010 Express (10.0)

Visual Studio 2012 Express Edition (11.0)

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Visual Studio 2013 Express Edition (12.0)

Microsoft C/C++ compilers, professional editions:

Visual Studio 2005 (8.0)

Visual Studio 2008 (9.0)

Visual Studio 2010 (10.0)

Visual Studio 2012 (11.0)

Visual Studio 2013 (12.0)

GCC compilers

Dymola 2016 has limited support for the MinGW GCC compiler. The following versions have been tested:

For 32-bit GCC: version 4.8.1.

For 64-bit GCC: version 4.9.2.

Note the present limitations, and a demand for an add-ons, refer to section “Extended GCC compiler support” on page 48.

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 11.11. This version is part of the Dymola distribution.)

Linux

Supported Linux versions and compilers

Dymola 2016 runs on SUSE Linux (Release 11), 32-bit and 64-bit, with gcc version 4.3.4, and compatible systems. In addition to gcc, the model C code generated by Dymola can also be compiled by clang. To change compiler, change the variable

CC

in

/opt/dymola-

<version>-<architecture>/insert/dsbuild.sh, where

<architecture> is i586 for 32-bit application, and

x86_64 for 64-bit application. As an example, for a 64bit Dymola 2016 application:

/opt/dymola-2016-x86_64/insert/dsbuild.sh

Dymola 2016 is supported as a 32-bit and 64-bit application on Linux.

Notes

For rendering of jpg files, libjpg62 must be installed.

32-bit compilation might require explicit installation of 32-bit libc. E.g. on Ubuntu: sudo apt-get install g++-multilib libc6-dev-386

Dymola 2016 Release Notes 69

Note on libraries

Please note that you have to use the Optimization library version 2.x or higher to use multi-criteria design optimization on Linux; the older Design.Optimization package does not support multi-criteria design optimization on Linux.

The library UserInteraction is not supported 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

11.11.)

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