Dymola Dynamic Modeling Laboratory Dymola Release Notes Dymola 2015
The information in this document is subject to change without notice. Document version: 1 © Copyright 1992-2014 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. Dassault Systèmes AB Ideon Science Park SE-223 70 Lund Sweden Support: URL: Phone: http://www.3ds.com/support http://www.Dymola.
Contents 1 2 3 Important notes on Dymola .................................................................................................... 5 About this booklet ................................................................................................................... 5 Dymola 2015 ............................................................................................................................. 6 3.1 Introduction .........................................................................
3.7 Advanced Modelica Support .......................................................................................................................... 34 3.7.1 Minor improvements ............................................................................................................................ 34 3.8 New libraries .................................................................................................................................................. 34 3.8.1 Flight Dynamics Library .....
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 2015: Microsoft Visual Studio C++ This is the recommended compiler for professional users.
3 3.1 Dymola 2015 Introduction 3.1.1 Additions and improvements in Dymola A number of improvements and additions have been implemented in Dymola 2015. In particular, Dymola 2015 provides: • Extended FMI support: o Support of FMI 2.0 Release Candidate 1 (page 25). o All Dymola solvers supported for FMU Co-Simulation export for FMI 1.0 on Windows (page 25). o Improved handling of external resources for FMU export on Windows (page 26) o String parameters are supported (page 28).
3.1.2 New and updated libraries New libraries The following libraries are new: • Flight Dynamics 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: • Air Conditioning Library, version 1.8.7. • DataFiles Library, version 1.0.1. • Design Library, version 1.0.3. • Electric Power Library, version 2.1.1. • Engine Dynamics Library, version 1.2.1. • Fuel Cell Library, version 1.2.1.
The LA features are briefly described below and are marked (LA). In this release the ondemand loading of models and packages is the only main LA feature. 3.2 Developing a model 3.2.1 Modelica Standard Library version 3.2 not included In Dymola 2015 only Modelica Standard Library version 3.2.1 is included in the distribution, and Modelica Standard Library 2.2.2 (for compatibility reasons). 3.2.
To see the whole type without using the dropdown menu, make the window wider. Variable declaration added to the Modelica Text layer context menu The context menu in the Modelica Text layer has been extended to allow defining new variables: Selecting this command displays the variable declaration dialog. The new variable is added at the end of the declaration part of the Modelica Text layer. (The command Edit > Insert Variable works the same.
A new variable declaration can only be added if there are no syntax errors in the Modelica text. 3.2.3 The Split Model command enhanced and improved Model creation by copying, using the Split Model command, is now supported A new selection Copy to model is available when using the split model command. (The command is reached by right-clicking on selected objects and selecting Split Model…, or by Edit > Split Model…) The selected objects will be copied to a new model.
3.2.4 Diagram layer zooming by spanning a rectangle The diagram layer (and the icon layer) can now be zoomed by pressing Alt and spanning a rectangle 1. Releasing the mouse, the result is: 1 On Linux, Ctrl+Shift have to be used instead of Alt.
To go back (to default), set the zoom to 100% in the dropdown menu in the upper toolbar, or use the new command Fit to Window in the context menu of the diagram layer or icon layer. 3.2.5 Selected commands (built-in functions) available as a library Previous version of Dymola introduced a package with selected commands (built-in functions). This package is now available as a library in the library menu. The library can be opened by the command File > Libraries > DymolaCommands.
3.2.6 Improved handling of tables When tables are large (more than 10000 cells), the default functionality in the matrix editor is now only to import/export and plot them, not to edit them. If editing is to be done, a command must be given; a warning that this will be a time-consuming operation follows. This improves handling of large tables, since many users are content with import/export and plot. 3.2.
3.2.8 On-demand loading of models and packages (LA) It is possible to select to avoid loading classes using Advanced.DemandLoadClasses. The following alternatives are available: Advanced.DemandLoadClasses = 0; This is the default value; entire libraries are loaded in Dymola when needed.
Advanced.DemandLoadClasses = 1; Classes in libraries are loaded when needed. Classes are needed when they are used for components/base-classes in the GUI, or used during translation. Note that Parameter dialogs with class-selectors will usually load complete libraries when using this setting. The end result of this setting is the same as the default setting, but the loading of classes rather than whole libraries speeds up the start-up time of opening a large model in Dymola. Advanced.
translateModel is an unknown function – a warning will instead recommend using the following annotation to turn off the warning: annotation(__Dymola_interactive=true); Both with and without that annotation the check will be less thorough than for normal functions; but performs some checks, e.g. the spelling of function names.
Plot headings treated as text objects In Dymola 2015 plot headings are treated as text objects; font size, alignment, color, etc. can be changed by the menu that appears when double-clicking the header or right-clicking the header and selecting Edit Text…. The header can be deleted using the context menu of the header. The functionality is also supported by scripting, using the new built-in function plotHeading.
New command for multi-simulation A new built-in function has been added: simulateMultiResultsModel. The function is similar to the existing built-in function simulateMultiExtendedModel; the difference is that the result of using the existing one gives the endpoints, while the result of the new function is the whole trajectories. An example of call is: simulateMultiResultsModel( "Modelica.Mechanics.Rotational.Examples.CoupledClutches", stopTime=1.
Simulation status indicated in Variable browser The simulation status (Running, Failed, and Stopped) of the simulation result files is indicated in the Variable browser. Failed and Stopped are indicated by a warning icon in front of the result file name, while Running is indicated by the text (Running) after the result file name. No text means that the simulation is finished with success. Result files of failed and stopped simulations can also be kept, but that is not indicated by any pin symbol.
printPlotArrays plotSignalOperator plotSignalOperatorHarmonic plotText patterns markers signalOperator signalOperator window lineStyle horizontalAlignment Session setting for erasing plots when loading new file after simulation A new flag Advanced.DefaultAutoErase can be used to set, for the session, if plots should be erased or not when loading a new file after simulation. The default value is true, meaning that the plots are erased when loading a new file after simulation.
3.4 Installation For the current list of hardware and software requirements, please see chapter “Appendix – Installation: Hardware and Software Requirements” starting on page 41. 3.4.1 Installation on Windows GCC compiler supported Dymola 2015 introduces limited support for the MinGW GCC compiler. The compiler is selected by using the simulation setup, reached for example by the command Simulation > Setup…, the Compiler tab.
Dymola can also be compiled by clang. To change compiler, change the variable CC in /opt/Dymola/insert/dsbuild.sh. 64-bit support on Linux For information related to the 64-bit Linux version of Dymola 2015 (including 64-bit FMU export), please consult the web page www.Dymola.com/Linux. FLEXnet license server The Dymola program and the vendor daemon currently supports version 11.9 of FLEXnet on Linux. For upgrade to version 11.11, see www.Dymola.com/Linux. 3.5 Model Management 3.5.
Updated dymtools utility (LA) An improved and extended version of the dymtools utility is available in the location Program Files\Dymola 2015\Mfiles\dymtools2 Replace the standard dymtools path with this path in order to use the new version. This version works with Matlab R2009b and later. Compatibility The Dymola – Simulink interface now supports Matlab releases from R2009a (ver. 7.8) up to R2013b (ver. 8.2). Only Visual Studio C++ compilers are supported to generate the DymolaBlock S-function.
• • • • • • • • 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 R2012b dSPACE Release 2013-A with Matlab R2012b, and R2013a dSPACE Release 2013-B with Matlab R2012b, R2013a, and R2013b SCALEXIO • dSPACE Release 7.
3.6.5 FMI Support in Dymola Unless otherwise stated, features are available both for FMI version 1.0 and version 2.0 RC1. Support for FMI 2.0 Release Candidate 1 Dymola 2015 supports FMI 2.0 RC1 (Release Candidate 1) that was published on October 18, 2013. 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.
This option is also available in the built-in function translateModelFMU, by setting the input parameter fmiType="csSolver". Note – this option requires Binary Model Export license, and is currently only supported on Windows, for FMI version 1.0. Improved handling of external resources for FMU export on Windows External resources using the functions ModelicaServices.ExternalReferences.loadResource or Modelica.Utilities.Files.loadResource are now by default copied to the FMU.
This menu is reached by the command Simulation > Setup…, the FMI tab. The resulting FMU will be larger due to this. If this is not wanted, de-selecting the setting will not copy the resources to the FMU, but resource-paths using Windows-shares will be changed to UNC-paths when possible. This makes the FMU usable within a company – without increasing its size. For an example, see the extended example of the string parameter support example below.
String parameters supported In Dymola 2015 string parameters are supported in FMUs. For the FMU export to support string parameters, the following flag must be set: Advanced.AllowStringParameters=true The flag is by default false. (String variables are however presently not supported.) Example String parameter support can be illustrated by a simple example of changing tables for an FMU; consider creating a simple model for linearization. Create a model; drag an instance of Modelica.Blocks.Tables.
This FMU supports changing the table name and file name as string parameters. Extended example (resource handling on Windows) If the FMU should contain the table as a resource, the following can be done, in Windows: Rename the parameter fileName to includeFileInFMU (really not needed, but for clarity). Use, in the variable definition dialog of includeFileInFMU, in the default value input field, Insert Function Call… to access the context command Modelica.Utilities.Files.
• • that Advanced.AllowStringParameters=true. that Copy resources to FMU is ticked in the FMI tab of the simulation setup. (The simulation setup can be reached in Simulation mode by the command Simulation > Setup… or by the command button .) We can import the generated FMU and look at the resulting parameter dialog of an instance of that FMU: The includeFileInFMU parameter is not displayed, it is evaluated, and the corresponding file has been copied to the Resources directory of the FMU.
Improved import of FMUs with many inputs/outputs When importing FMUs with many inputs/outputs, the import is improved by setting the flag Advanced.FMI.OverlappingIO=true The flag is by default false. Setting this flag, the following two features are enabled: • The input and output connectors of the imported FMU are stacked at the same location, one location for each type (Integer, Real, and Boolean) of connectors (the image to the right below).
Note! The feature “Smart Connect” is not supported when using this feature, so when setting the flag above, also the corresponding Smart Connect flag should be set to the status: Advanced.SmartConnect=false (This flag is by default true.
The flag is true by default. Improved handling of start values for initialization In Dymola 2015 start values can be set for FMI Model Exchange, to set input start values before initialization. This can be useful when wanting to avoid e.g. division by zero when initializing. Improved error messages for FMU import The error messages for FMU import have been improved; more information is given. Location of external resources available as parameter The location of external resources (dlls, tables etc.
3.6.6 Code and Model Export Binary Model Export Generating a dymosim DLL It is possible today to generate a dynamic link library (dymosim.dll) from a model, if the Binary Model Export (or Source Code Generation) option is available. This is still supported; however, any new development will be to use FMI instead since FMI now supports Co-simulation using Dymola solvers (see page 25).
analysis in various fields and stages of the aircraft development, for flight control law design, as well as for real-time flight simulation. Typical use cases: • Aircraft and flight control design. • Mission simulation and optimization. • Real-time simulation. Key features: • Full six degrees-of-freedom simulation including trim calculation. • Full compatibility; develop and interconnect airframe and systems models using components from the Modelica Standard Library.
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 minor version 1.8.7 has been released. Some features and improvements: • Air split and junction models added. • Improved Modelica compliance. • Steady-state initialization of heat exchanger models with moisture condensation improved by applying the homotopy operator.
• • • • • Flat tube type air – gas components have been added. Flat tube type air – two phase components have been added. A new type of fin geometry has been added. It is now possible to discretize the flat type internal flow orthogonal to the flow direction. Heat exchanger test benches are now included. In order to support all different heat exchanger types using common base classes, there have been some changes to the internal structure of the model with this release.
Conversion from release 3.3.1 and 3.3.3 to 4.0 is embedded. Note however that some additional actions might be required due to changed port names. Refer to the library documentation for more information. 3.9.9 Hydro Power Library A major version 2.4 has been released. The release contains two major improvements; a new surge tank model with support for more complex geometries, and a reduction of the simulation speed of approximately 50% due to a more efficient media implementation.
3.9.16 Vapor Cycle Library Version 1.1 is a major release of the Vapor Cycle Library. In particular, new components have been added, some examples: • A pump model with several different options for defining flow and power characteristics. • A turbine model with flow rate determined according to the Stodola law and a given nominal operating point. Constant isentropic and mechanical efficiency are assumed. • Splits and junctions with different options to define the flow resistance.
Conversion A conversion script is needed to accommodate the changes described above. This will convert models from version 1.8 to the current version. 3.10 Documentation In the software distribution of Dymola 2015 Dymola User Manuals of version “March 2014” will be present; these manuals include all relevant features/improvements of Dymola 2015 presented in the Release notes. Limited Availability (LA) features are not included.
3.11 Appendix – Installation: Hardware and Software Requirements Below the current hardware and software requirements for Dymola 2015 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.
• • • • Visual Studio 2005 (8.0) Visual Studio 2008 (9.0) Visual Studio 2010 (10.0) Visual Studio 2012 (11.0) GCC compilers Dymola 2015 has limited support for the MinGW GCC compiler, with a GCC version compatible with 4.8. For the list of current limitations; refer to section “Limitations” on page 21. 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.
