Dymola Dynamic Modeling Laboratory

Dymola Release Notes

Dymola 2017 FD01

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

Document version: 1

© Copyright 1992-2016 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 Gateway Scheelevägen 27 – Floor 9 SE-223 63 Lund Sweden Support: URL: Phone:

http://www.3ds.com/support http://www.Dymola.com +46 46 270 67 00

Contents 1 2 3

Important notes on Dymola .................................................................................................... 5 About this booklet ................................................................................................................... 5 Dymola 2017 FD01 .................................................................................................................. 6 3.1 Introduction ...................................................................................................................................................... 6 3.1.1 Additions and improvements in Dymola ................................................................................................ 6 3.1.2 New and updated libraries ...................................................................................................................... 7 3.1.3 Dymola Portfolio Changes ..................................................................................................................... 8 3.2 Developing a model ......................................................................................................................................... 9 3.2.1 Demand loading by default ..................................................................................................................... 9 3.2.2 Saving settings between sessions improved ......................................................................................... 10 3.2.3 New selections where to open a created class when creating it ............................................................ 13 3.2.4 Locking and unlocking of classes ......................................................................................................... 14 3.2.5 Refreshing packages ............................................................................................................................. 16 3.2.6 Improved handling of changing classes; enhanced modifier check ...................................................... 16 3.2.7 Deleting variables using GUI ............................................................................................................... 17 3.2.8 GUI for editing variable selections ....................................................................................................... 18 3.2.9 Improved error and warning messages ................................................................................................. 21 3.2.10 Minor improvements ............................................................................................................................ 22 3.3 Simulating a model ........................................................................................................................................ 36 3.3.1 Sparse solvers for Cvode ...................................................................................................................... 36 3.3.2 Improved handling of commands history in the commands window ................................................... 36 3.3.3 Improvements in Variable Browser ...................................................................................................... 38 3.3.4 Plot window .......................................................................................................................................... 40 3.3.5 Scripting ............................................................................................................................................... 42 3.3.6 Minor improvements ............................................................................................................................ 46 3.4 Installation ...................................................................................................................................................... 46 3.4.1 Installation on Windows ....................................................................................................................... 47 3.4.2 Installation on Linux ............................................................................................................................. 48 3.5 Other Simulation Environments ..................................................................................................................... 48 3.5.1 Dymola – Matlab interface ................................................................................................................... 48 3.5.2 Real-time simulation............................................................................................................................. 48 3.5.3 Python Interface for Dymola ................................................................................................................ 49 3.5.4 JavaScript Interface for Dymola ........................................................................................................... 49 3.5.5 FMI Support in Dymola ....................................................................................................................... 49

3

3.6 Advanced Modelica Support .......................................................................................................................... 53 3.6.1 Improved support for different C++ library versions ........................................................................... 53 3.6.2 Improved enumeration value conversion .............................................................................................. 53 3.7 Modelica Standard Library and Modelica Language Specification ............................................................... 54 3.8 New libraries .................................................................................................................................................. 54 3.8.1 Brushless DC Drives Library................................................................................................................ 54 3.8.2 Cooling Library .................................................................................................................................... 55 3.8.3 Wind Power Library ............................................................................................................................. 56 3.9 Updated libraries ............................................................................................................................................ 57 3.9.1 Air Conditioning Library ...................................................................................................................... 57 3.9.2 Battery Library ..................................................................................................................................... 58 3.9.3 Electric Power Library.......................................................................................................................... 59 3.9.4 Electrified Powertrains Library (EPTL) ............................................................................................... 59 3.9.5 Engine Dynamics Library ..................................................................................................................... 59 3.9.6 Engines Library .................................................................................................................................... 59 3.9.7 Flight Dynamics Library ...................................................................................................................... 60 3.9.8 Fuel Cell Library .................................................................................................................................. 60 3.9.9 Heat Exchanger Library........................................................................................................................ 61 3.9.10 Heating, Ventilation, and Air Conditioning Library (HVAC Library) ................................................. 61 3.9.11 Human Comfort Library ....................................................................................................................... 61 3.9.12 Hydraulics Library................................................................................................................................ 62 3.9.13 Hydro Power Library ............................................................................................................................ 62 3.9.14 Liquid Cooling Library ......................................................................................................................... 62 3.9.15 Pneumatics Library ............................................................................................................................... 63 3.9.16 Power Train Library ............................................................................................................................. 64 3.9.17 Thermal Power Library ........................................................................................................................ 64 3.9.18 Vapor Cycle Library ............................................................................................................................. 66 3.9.19 Vehicle Dynamics Library.................................................................................................................... 66 3.9.20 Vehicle Interfaces Library .................................................................................................................... 69 3.10 Documentation .......................................................................................................................................... 69 3.11 Appendix – Installation: Hardware and Software Requirements .............................................................. 70 3.11.1 Hardware requirements/recommendations ........................................................................................... 70 3.11.2 Software requirements .......................................................................................................................... 70

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. Three types of compilers are supported on Windows in Dymola 2017 FD01: 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 70 for more information. Intel Dymola 2017 FD01 has limited support for the Intel Parallel Studio XE compiler. For more information about this compiler, see section “Intel compiler support” on page 47. GCC Dymola 2017 FD01 has limited support for the MinGW GCC compiler, 32-bit and 64-bit. For more information about GCC, see section “Compilers” on page 70; the section about GCC compilers. 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 72 for more information.

2

About this booklet This booklet covers Dymola 2017 FD01. The disposition is similar to the one in Dymola User Manual Volume 1 and 2; the same main headings are being used (except for, e.g., Libraries and Documentation).

Dymola 2017 FD01 Release Notes

5

3 3.1

Dymola 2017 FD01 Introduction 3.1.1 Additions and improvements in Dymola A number of improvements and additions have been implemented in Dymola 2017 FD01. In particular, Dymola 2017 FD01 provides: • A number of new libraries (list on page 7). • Extended access to some packages (list on page 8) • Demand loading by default (page 9). • Improved saving of settings between sessions (page 10). • New selections where to open a created class (page 13). • Possibility to lock and unlock classes (page 14). • Feature of refreshing packages (page 16). • GUI command for deleting variables (page 17). • GUI for editing variable selections (page 18). • Improved error and warning messages (examples on page 21). • Sparse solvers for Cvode supported (page 36) • Improved handling of commands history (page 36). • Improved filtering of variables in the variable browser (page 38) • Improved plot handling (starting page 40). o New signal operator for calculating the discrete difference of a signal. o Inserting plots in script. o Display unit selection for x-axis. • Improved scripting (page 42). o New toolbar for scripting commands, including new command for changing directory. o New built-in function for calculation of the discrete difference of a signal. • Support for Microsoft Visual Studio 2015 compiler (page 47). • Python 3 compatibility in Python interface for Dymola (page 49) • Availability of JavaScript interface for Dymola on Linux (page 49). • FMI Kit for Simulink version 2.3.0 (page 52) • Support for dSPACE MicroLabBox (page 48)

6

3.1.2 New and updated libraries New libraries The following libraries are new in this Dymola version: • Brushless DC Drives Library, version 1.0 • Cooling Library, version 1.0 • Wind Power Library, version 1.0 For more information about the new libraries, please see the section “New libraries” starting on page 54. Updated libraries The following libraries have been updated: • Air Conditioning Library, version 1.13 • Battery Library, version 1.4 • Electric Power Library, version 2.2.4 • Electrified Powertrains Library (EPTL), version 1.0.1 • Engine Dynamics Library, version 1.2.6 • Engines Library, version 2016.3 • Flight Dynamics, version 1.0.2 • Fuel Cell Library, version 1.4 • Heat Exchanger Library, version 1.5 • Heating, Ventilation, and Air Conditioning Library (HVAC Library), version 2.2.0 • Human Comfort Library, version 2.2.0 • Hydraulics Library, version 4.5 • Hydro Power Library, version 2.6.1 • Liquid Cooling Library, version 1.5.1 • Pneumatics Library, version 2.1 • Power Train Library, version 2.4.0 • Thermal Power Library, version 1.13 • Vapor Cycle Library, version 1.4 • Vehicle Dynamics Library, version 2.4 • Vehicle Interfaces Library, version 1.2.4 For more information about the updated libraries, please see the section “Updated libraries” starting on page 57.

Dymola 2017 FD01 Release Notes

7

3.1.3 Dymola Portfolio Changes The portfolio of libraries in Dymola 2017 FD01 has been changed to extend the access of certain packages by integrating them into the Dymola standard configuration. This means that in this version the functionality of the following packages are now available without any licensing (the formal trigram in brackets): • Model Calibration (MOC) • Model Management (MOM) • Realtime Simulation (RHS) Because of this, some menu alternatives are now by default available, for example the File > Version menu alternatives from Model management. Some selections also disappears, for example the selection if the Model management should be checked out or not, in the menu Help > License… > Details. Dymola run-time licenses are discontinued. Code export using Binary Model Export (XBM) or Source Code Generation (GSC) are better alternatives since no runtime license must be managed on the target.

8

3.2

Developing a model 3.2.1 Demand loading by default To speed up start-up and loading of libraries in Dymola, the default setting in Dymola has been changed from loading entire packages to on demand loading. In most cases the user will see improved speed, but in some cases delays occur where delays did not occur previously, typically there is now a delay when opening the first dialog in a library (for example Modelica Standard Library) having the setting Add selector for all matching choices activated. This setting leads to opening the entire corresponding library, which takes some time. To be able to easily change the demand load setting (for example setting it back to the previous Entire packages loaded), the setting is now also available in the GUI, in the General tab of the Edit > Options… command:

This corresponds to setting the flag Advanced.DemandLoadClasses to 0, 1, or 2 (in that order). The default in Dymola 2017 (Advanced.DemandLoadClasses=1).

FD01

is

Demand

Dymola 2017 FD01 Release Notes

load

of

packages

9

3.2.2 Saving settings between sessions improved Saving settings Settings are now saved in an XML file, instead of the previous handling of the settings using a text file setup.mos. The settings are saved, for example, when Dymola exits. Any changes in the settings are stored immediately. When starting Dymola, the XML file is loaded if it exists; otherwise setup.mos is loaded, and converted to XML. What is saved The following settings are now always automatically saved: • All settings in the Edit > Options… dialog. This means: o A number of settings previously not possible to save are now automatically saved. o Most of the options in the previous Save Settings tab reached by the command Edit > Options… have been removed since they are now automatically saved. • Position and geometry of Dymola window (could be saved previously by selection, now it is saved automatically) • The search history (not possible to save previously) • Custom colors (not possible to save previously) • Plot layout and setup (could be saved previously by selection, now it is saved automatically) • The startup directory (see below). • The Modelica path (see below). The following settings can be selected to be saved or not by the user:

10

This dialog is reached by the command Edit > Options…, the Settings tab. The figure also displays the default values. The startup directory and the Modelica path could be saved in previous version as well; the possibility to save the command history is new for Dymola 2017 FD01. However, recent working directories (“working directory history”) are saved. Importing and exporting the settings file It is possible to import and export the settings file by the command buttons Import… and Export..., respectively, located in the Settings tab, reached by the command Edit > Options….

Dymola 2017 FD01 Release Notes

11

This feature makes it possible to store good settings for later restoring. Reset all settings It is possible to reset all settings to “factory settings” by the button Reset in the Settings tab (see previous image). Changing settings running scripts In some cases changing of settings when running scripts is not wanted. To prevent saving settings when running a script, you can in the script set the new flag Advanced.SaveSettings = false;

The flag is by default true, meaning that any change in settings is saved, independently if the change is made by command or by a script. Do not forget to set the flag to true in the end of the script. Preventing loading and saving settings To prevent both reading and saving of settings you can start Dymola with the command line option –nosettings. This feature is present also in previous versions.

12

Reorganization of the Edit > Options dialog As can be seen from above, the Edit > Options… dialog has been reorganized. See section “The Edit > Options… dialog reorganized” on page 30 for details. Handling of previous Dymola versions If no XML file exists, the setup.mos file will be opened. The settings in this file will immediately be saved in a new XML file.

3.2.3 New selections where to open a created class when creating it When you create a new class using any of the New commands, you can now select where to open the new class by a dropdown menu:

The default selection corresponds to the action in previous versions.

Dymola 2017 FD01 Release Notes

13

3.2.4 Locking and unlocking of classes You can now lock/unlock classes in the package browser; the idea is that locked classes need to be explicitly unlocked for editing. To lock a class, right-click it in the package browser and select Lock….

A dialog where you can specify the reason for locking appears; in this example the text Stable is entered:

14

Clicking OK makes the model Read-Only; this is indicated in the window heading and with a hanglock on the model in the package browser (see image below). Right-clicking the model again gives:

Dymola 2017 FD01 Release Notes

15

3.2.5 Refreshing packages In Dymola 2017 FD01 you do not have to unload a library and open it again to update to a changed library, you can instead right-click a class of the library (package) in the package browser and select Refresh.

3.2.6 Improved handling of changing classes; enhanced modifier check When changing classes using the context command Change Class…, there is now also a check on the variability of modifiers having the same name in different classes. If they don´t match, a warning message including a possibility to remove them is displayed.

16

3.2.7 Deleting variables using GUI You can now delete a variable from the dialog used to create or edit a variable, reached by the command Edit > Variables > VariableName. There is now a Delete button in this dialog for each variable:

If the variable has modifiers, for example a start value, a warning message of hanging modifiers appears. As an example, a simple model MyTest contains a parameter Dummy1. A component of MyTest is present in MyApplication1, where the parameter Dummy1 is given the value 1 in the parameter dialog of the MyTest component. When deleting Dummy1 in MyTest, by the Delete button in the dialog above, the following message appears:

The first part states all packages that have been investigated due to the possible delete; this is all open packages in the package browser. The conclusion is that MyApplication1 can be updated, due to deleting component Dummy1 in MyTest. The menu gives some choices:

Dymola 2017 FD01 Release Notes

17

•

If you click Update, the update is performed according to the message.

•

If you click Just Delete; Skip Update, Dummy1 is deleted, but only in MyTest; the code corresponding to setting Dummy1 to 1 in MyApplication1 is not removed. This will cause an error when testing MyApplication1. By selecting Always update without confirmation, you will not receive any more messages when deleting variables, the update will always be performed automatically.

•

There is a flag related to the action and message; Advanced.ActivateSmartDelete. The flag can have the following values: • 0: Do not display the message, and always delete without any update. • 1: Do display the message, act according to selection in menu. • 2: Do not display the message, and always update (if possible). The default value of the flag is 1; note that if you select Always update without confirmation in the menu above, and then Update, you also change the value of the flag to 2. There are some limitations for the functionality: • Connections to the deleted variable are not deleted. • Equations in the Modelica text editor using the deleted variable are not updated. • “Undo” cannot be applied to deletion of variables.

3.2.8 GUI for editing variable selections Variable selections allows you to select which variables should be stored in the simulation result file and group them logically even if the variables are in fact buried deep in the model. Variable selections are defined by model annotations (see “Dymola User Manual Volume 1”, chapter “Developing a model”, section “Advanced model editing” subsection “Matching and variable selections”); new in this release is a graphical user interface for editing selections in a model. The command Edit > Variable Selections… displays a dialog summarizing all available variable selections in the model. There can be multiple selections, each containing one or more matching rules:

18

Pressing Add Selection, or selecting an existing selection and pressing Edit opens a dialog to enter the name of a selection and an optional comment. It is also possible to define that this variable selection shall override any variable selection with the same name inherited from base classes (this is the default).

Pressing Add Rule, or selecting an existing rule and pressing Edit, starts a wizard to define a rule in a variable selection. The first page defines the rules for matching variables in a

Dymola 2017 FD01 Release Notes

19

model, based on variable name, the component or model that contains the variable, or the variable description.

The next page of the wizard is used to define how the variable will be presented in the variable browser after reading the result file in Dymola. It is possible to define an additional heading and to include the path of the variable. If neither heading nor path is selected, the variable selection can be used for filtering, but no separate section is created.

20

3.2.9 Improved error and warning messages Improved handling of warnings for disabled parameters Parameters with the annotation annotation(Dialog(enable=false)); are not generating warnings if they are not given values. This makes it more convenient to use some libraries, where a number of parameters may have this annotation. Improved error message for failure when solving a nonlinear system If Details in the Nonlinear solver diagnostics group is activated in the Debug tab of the simulation setup, reached by the command Simulation > Setup…, a log is produced when trying to simulate. The error message in this log is improved to provide better guidance. Output of states and derivatives when simulation fails When simulation fails, states and derivatives are printed, to help model debugging. Improved syntax error messages The messages of syntax errors are improved; they are now grouped and linked to their respective source locations:

Dymola 2017 FD01 Release Notes

21

The links provide fast-shortcut jumps to the referenced source code location.

3.2.10

Minor improvements

New tab “+” available to add new tab A new “+” tab is available as the last tab, to add a new tab with a new model:

Clicking this tab adds a new tab with a model Unnamed. If such a model is already present, the name will be Unnamed1 etc.

22

New features in the Edit Enumeration dialog Editing an enumeration element from the Edit Enumeration dialog There is a new Edit button available in the dialog given when selecting the context command Enumeration > Edit Enumeration..:

Clicking the button gives the dialog for editing the selected element. You can also use the Space key to get this dialog.

Note that you can also double-click any element in the list to edit it. Column with original enumeration element names added A column Original name is added to the Edit Enumeration dialog. In the below example, the name “Tiny” has been changed to “Infinitesimal”.

Dymola 2017 FD01 Release Notes

23

Renaming a class directly in the Package Browser You can now rename a class directly in the package browser. Select a class and either click it again or press F2. An inline editor opens. Enter the new name and press Enter, or Escape to cancel.

Default name when creating a new model In previous version, no default name was given when creating a new model. Also, a warning was given if the model was created as a top-level model. In Dymola 2017, the default name Unnamed is proposed when creating a new model. If Unnamed already exists, the proposed name is Unnamed1 etc. The previous warning about creating a top-level model is not given anymore. Browsing to a class by a text string It is not uncommon to become a Modelica path to a class as a text sting; the new package browser header context command Browse to Class… makes it possible to quickly browse to that class.

24

Selecting this command gives a dialog where the text can be copied to (in this case the text VehicleDynamics.Vehicles.Chassis.Suspensions.SingleAxles.TrailingArm 2)

Clicking OK opens the library and browses to the class, but without opening it:

Dymola 2017 FD01 Release Notes

25

The Attributes dialog for components moved to a new tab in the parameter dialog The Attributes dialog for a component, previously displayed by the context command Attributes, is now moved to a new tab in the parameters dialog:

The content is the same as previously, except the items marked above: • Add selector for all matching choices has been added. See next section for details on this attribute. • Conditional component has been added, together with the condition if. This option creates a conditional declaration for the component, as defined in the Modelica language. If the condition is false, the component is removed when translated (including modifiers and connections to it).

26

Annotation __Dymola_choicesAllMatching available in GUI for components The annotation annotation(__Dymola_choicesAllMatching) was previously available as a GUI setting Add selector for all matching choices when dragging a replaceable component from the package browser to the component browser, adding it as a class parameter. Now this setting is also available in the Attributes tab of the parameter dialog of a component (see previous image). The setting can only be changed if the component is replaceable. Activation of the dialog entry for start values in the variable declaration dialog The annotation for activating the dialog entry for start values can now be set in the variable declaration dialog; in the Annotations tab. Activating this Show start option gives the result:

Clicking OK will add also the annotation to display this start value in an “Initialization” group, taking up the menu again after clicking OK will display:

Dymola 2017 FD01 Release Notes

27

The result of using the model containing this variable is, looking at the parameter dialog:

28

The option is by default not activated. New command for creating a script A new command File > New > Script… puts Dymola in Simulation mode and creates a new script.

Dymola 2017 FD01 Release Notes

29

The command is also available from the menu from the command button New. Command button for importing an FMU In the File toolbar, a command button Import FMU is now available. This button corresponds to the command File > Import > FMU….

The Edit > Options… dialog reorganized The dialog from the command Edit > Options… is now reorganized in a number of tabs. The previous Appearance tab that contained quite a number of different options is divided into three tabs with the main content: • The General tab with options for the package browser, parameter dialog, command window, and the new options for demand loading. • The Graphical Editor tab with options for the diagram/icon layer. • The Text Editor tab with options for Modelica text editor. The Version tab is unchanged.

30

The Settings tab contains the same principal options as the previous Save Settings tab, but is different since the options have been changed and enhanced. The tabs as they look now:

Dymola 2017 FD01 Release Notes

31

For the new option of exporting the new settings file, and concerning the new way of saving settings, see section “Saving settings between sessions improved” on page 10. Improved visibility of vectorized components What components that are vectorized can now be seen by the name in the diagram layer; the brackets of such components are now shown in the name. Below the component const is vectorized to contain 4 components.

Sometimes displaying the dimensions cause too much text, a setting is available to select if the full dimension should be displayed, or only [ ]. The setting Show array size in name label for array components is reached by the command Simulation > Setup…, the Graphical Editor tab.

32

By default only [ ] is shown. Note however that you can always use the tooltip to see the full dimension. This setting corresponds to the flag Advanced.ArraySizeInName = false. The flag is saved between sessions. Option to use drag and drop to reorder classes also available from context menu of package browser header The option Reorder using drag and drop that was already available in previous versions by the command Edit > Options…, in the General tab, is now also available from the context menu of the package browser header:

Dymola 2017 FD01 Release Notes

33

Improved rendering of gradients The rendering of gradients has been improved, resulting in smoother gradients. Below Dymola 2017 FD01 to the left, Dymola 2017 to the right:

Opening/Closing Dymola windows while running commands In Dymola 2017 FD01 you can open classes in new Dymola windows, and close Dymola windows, even if a command is running (for example a simulate command). You can however not close the window where the command is running. Named Undo/Redo commands In Dymola 2017 FD01, the command for undoing and redoing are named, for example, the undo command of creating a rectangle is Edit > Undo Rectangle. Undo/Redo remembered The command for undoing and redoing are to some extent remembered; if open another class and then go back to the class where you, for example created a rectangle, you can still give the command Edit > Undo Rectangle.

34

New shortcut commands Shortcuts for Order commands The following shortcuts have been added for the Order context command:

Shortcuts for some commands in the Drawing toolbar:

Command

Shortcut

Toggle Grid

G

Connect Mode

C

Transition Mode

T

Dymola 2017 FD01 Release Notes

35

3.3

Simulating a model 3.3.1 Sparse solvers for Cvode Dymola 2017 FD01 supports sparse solvers for Cvode, using a multithreaded (OpenMP) variant of SuperLU. The sparse solvers can only be activated if the model is sparse and large enough. You will automatically get a message in the translation log of a model if a model is suitable for sparse solvers:

As said in the message, you can activate the sparse solvers with the flag: Advanced.SparseActivate = true;

The flag is by default false. The flag only applies to Cvode solvers; you must also change the algorithm to Cvode. The flags defining if a model is suitable or not for sparse solvers are already tuned to good values, we don´t recommend changing them. The flags are (the last one in percentage): Advanced.SparseMinimumStates = 90; Advanced.SparseMaximumDensity = 5;

Note. You can store the selected algorithm in the model, but you cannot store the value of the flag in the model.

3.3.2 Improved handling of commands history in the commands window You can now display the commands history from the commands window by pressing arrow up or arrow down when you are located in the command input line of the commands window.

36

A window with a top bar is opened just above the command input line. The down arrow only displays this frameless history window if you are not at the end of the command history.

Note that the arrow up and arrow down also move one command up/down in the list, apart from displaying the frameless history window. The selected command is displayed in the command input line. Press Enter to execute it. You can also select command by clicking on it. Then it appears in the command input line, and the command history window is closed. You can then press Enter to execute it. To just remove the frameless window without changing active command, use arrow right. To remove the frameless window and reset the active command as the last one, click Escape. If you click on the top bar of the command window, it is converted to a dialog window.

You can use multiple select, and a context menu is available for the selected commands (see figure above). The following commands are available in the context menu: Copy Copies selected commands to the clipboard. You can also use Ctrl+C. Delete Deletes the selected commands. You can also use Del.

Dymola 2017 FD01 Release Notes

37

Select All Selects all commands in the window. You can also use Ctrl+A. Clear History Clears all commands in the window. Create Script Opens the script editor with the selected commands inserted. This allows you to save the selected commands as a script. Run Commands Executes the selected commands.

The commands in the context menu are also available from the top bar of the window, except Select All. The dialog window with command history is also directly available from the context menu of the command input line, use the context command Command History. You can also use Ctrl+H.

Note that the command history is saved between sessions.

3.3.3 Improvements in Variable Browser Improved filtering of variables In previous versions of Dymola, clicking the Advanced button in the variable browser gave the option to enter a string in the Search Filter box. Pressing Enter applied the filter. In Dymola 2017 FD01, the filter is immediately available:

38

When typing, the filtering is dynamically applied. The filtering conditions are the same as in previous versions; for example, the filtering is still case sensitive. ((**may be changed**)) To reset the filter, you can click the cross in the box.

Dymola 2017 FD01 Release Notes

39

The button More after the filter box corresponds to the previous button Advanced – it displays further alternatives. Except from the moving and improving of the text filter option, no difference exists compared to previous version.

3.3.4 Plot window Measurement cursor available for other x-axis units than time In Dymola 2017 FD01 the measurement cursor can be used also when the x-axis unit is not time. Improved logic for measurement cursor Previously the values presented in the measurement cursor were the values of the closest points. Now the values presented are interpolated values. Display unit selection for x-axis when having other variable than time When you have selected another variable than time for the x-axis, you can now select display unit for the x-axis by the context menu command Horiz Display Unit for the plot diagram, when you have nothing selected:

40

New signal operator: discrete difference of signal A new signal operator Difference calculating the discrete difference of a signal is available in the context menu of a curve in a plot window:

The signal operator plots the discrete difference of a signal, defined as y(i)=u(i)-u(i-1). Below the signal operator applied on J1.w from the Coupled Clutches demo:

Dymola 2017 FD01 Release Notes

41

Note that the vertical axis is added to the right; that is also indicated by “*” in the legend above the curve for that signal. A built-in function for the signal operator is also available; see section “New built-in function for signal operator calculating the discrete difference” on page 45. Improved logic for time units in plots The logic for time units in plots has been enhanced: • If you have selected a time unit it is kept when you select a new signal. • Changing the simulation time unit does not affect the current plot window. • When you create a new plot window, it uses the simulation time unit.

3.3.5 Scripting New toolbar for scripting commands including new command for changing directory A new Script toolbar is available for the scripting commands:

42

The toolbar is by default displayed when in simulation mode:

The toolbar contains the following commands: Icon

Command

Comment

New Script Open Script Change to Script Directory

New command

Run Script

Dymola 2017 FD01 Release Notes

43

The Change to Script Directory automatically performs a change of working directory to the directory where the script resides, before running the script. The button is a toggle button, and is by default activated. The script commands have been rearranged and simplified in the Simulation command menu to correspond to the Script toolbar:

The Script toolbar replaces the previous drop-down tool menu for scripting commands. Also the File > Open… command, and the corresponding Open command button in the File toolbar are now dimmed, since they are replaced by the command Simulation > New Script… and the corresponding Open Script command button in the Script toolbar. Note the new command for creating a new script by the command File > New > Script… in Modeling mode. See “New command for creating a script” on page 29. Insert current plots in script You can insert the script commands for your current plot session (your displayed plots) in the script editor by the context command Insert Current Plot Commands:

44

This facilitates the creation of scripts for rebuilding a plot session that has been done interactively. New built-in function for signal operator calculating the discrete difference A new built-in function is available for the signal operator calculating the discrete difference (compare section “New signal operator: discrete difference of signal” starting on page 41 above): plotSignalDifference(variablePath, startTime, stopTime, axis, id);

Dymola 2017 FD01 Release Notes

45

As an example, the function call corresponding to the signal operator curve in the figure in section “New signal operator: discrete difference of signal” starting on page 41 above is: plotSignalDifference("dsres[end].J1.w", 0, 1.2, 1, 1);

Note that by default that the vertical legend axis is to the right.

3.3.6 Minor improvements Improved handling of Recent Windows The list of recently opened windows in the Recent Windows command button dropdown list now displays the order in which the windows have been created. Clicking the button toggles between the two latest created windows. More constants available in the Commands Window More constants are now available in the command input line of the commands window, for example Modelica.Constants.pi and Modelica.Constants.mue_0. Intel compiler supported for multi-core simulation The supported Intel compiler is now supported also for multi-core 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 70.

46

3.4.1 Installation on Windows

Microsoft Visual Studio 2015 supported Dymola 2017 FD01 supports the Microsoft Visual Studio 2015, both the Express and Professional edition. Intel compiler support improved Dymola 2017 FD01 supports the Intel compiler Intel Parallel Studio XE 2016. The support is extended to cover also multi-core simulation.

Dymola 2017 FD01 Release Notes

47

3.4.2 Installation on Linux Changed default – 64-bit Linux now default setting When installing Dymola on Linux, the default setting is now to use 64-bit Dymola when translating models. The reason for changing from 32-bit is that many new Linux machines now miss 32-bit support. Please note that this does not affect the performance, actually a slight improvement has been noted in tests.

3.5

Other Simulation Environments 3.5.1 Dymola – Matlab interface Compatibility The Dymola – Simulink interface now supports Matlab releases from R2011a (ver. 7.12) up to R2016a (ver. 9.0). Only Visual Studio C++ compilers are supported to generate the DymolaBlock S-function. The LCC compiler is not supported.

3.5.2 Real-time simulation Compatibility – dSPACE Dymola 2017 FD01 officially supports the DS1005, DS1006, MicroLabBox, and SCALEXIO systems for HIL applications. For these systems, Dymola 2017 FD01 generated code has been verified for compatibility with the following combinations of dSPACE and Matlab releases: • 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 R2014a • dSPACE Release 2014-B with Matlab R2014b • dSPACE Release 2015-A with Matlab R2015a • dSPACE Release 2015-B with Matlab R2015a and R2015b • dSPACE Release 2016-A with Matlab R2015a, R2015b, and R2016a 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

48

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 – Simulink Real-Time (formerly xPC Target) Compatibility with Simulink Real-Time has been verified for all Matlab releases that are supported by the Dymola – Simulink interface, which means R2011a (xPC Target ver. 5.0) to R2016a (Simulink Real-Time ver. 6.4). Only Microsoft Visual C compilers have been tested.

3.5.3 Python Interface for Dymola The Python interface for Dymola is now compatible also to Python 3.5 as well as Python 2.7.

3.5.4 JavaScript Interface for Dymola The JavaScript interface for Dymola was previously only supported on Windows; it is now also supported on Linux. The instructions for Windows in the manual apply to Linux as well, with adjustment for the Linux structure.

3.5.5 FMI Support in Dymola Unless otherwise stated, features are available both for FMI version 1.0 and version 2.0. FMU Export Option to not display FMU Export dialog By default a dialog appears when exporting an FMU by command:

Dymola 2017 FD01 Release Notes

49

The new last option can be used to not display this dialog when exporting an FMU by command. FMU Import Updated input handling for co-simulation FMU import Input time point You can now choose the time point used as input when calling doStep with a co-simulation FMU from time t0->t1. Your choices are input at time t0 input at time t1 or pre on input at time t1 (default and behavior of Dymola 2017). Input time can be chosen with the parameter fmi_Input time, and if StepEnd is chosen fmi_UsePreOnInputSignals can be used to disable pre operator on the input signal. Be aware that using StepStart at for fmi_inputTime will introduce delays in output if you have direct dependencies on the input. Using StepEnd and disabling pre can introduce algebraic loops when connecting with feedback which cannot be solved by co-simulation FMUs.

50

Using pre on inputs at StepEnd will break these loops if you create them with connections by introducing an infinite small delay.

Input derivatives Dymola 2017 FD01 supports interpolation of input and to set the input derivatives of real inputs if the FMU has the capability flag canInterpolateInputs. The interpolation is a first order interpolation. This can be activated by setting the flag Advanced.FMI.SetInputDerivatives = true before importing an FMU that supports this feature. Since we only supports interpolation and not extrapolation, similar restrictions exists as when using StepEnd as input time and disabling pre, i.e. all FMUs in a feedback loop cannot have this feature at the same time.

Improved fmi2 initialization for co-simulation FMI 2.0 co-simulation supports initialization with algebraic loops (but not solving algebraic loops at simulation time). Improvement has been made to make this more robust at Dymola import, this has also removed the need for the parameter fmi_pullInputsForInitialization and thus it been removed, (it is still needed for some cases in FMI 1.0 co-simulation as you cannot solve initialization of multiple FMUs there). Option to not display FMU Import dialog By default a dialog appears when importing an FMU by command:

Dymola 2017 FD01 Release Notes

51

The new last option can be used to not display this dialog when importing an FMU by command. FMI Kit for Simulink A new version (2.3.0) of Dassault Systèmes tools for export and import of FMUs in Simulink is included with Dymola 2017 FD01. FMI Kit for Simulink version 2.3.0 resides in the following folder of the Dymola 2017 FD01 distribution Dymola 2017 FD01\Mfiles\FMIKit_for_Simulink

Install the new version of the export and import tools using the following two steps (preferably executed from your startup script) •

Add the FMIKit_for_Simulink folder to your Matlab path

•

Execute the script FMIKit.initialize()

FMI Kit for Simulink can be used for free without any license key. Support and maintenance is offered to Dymola customers through the regular support channel at www.3ds.com/support. The package is independent of Dymola and updates are sometimes released in between the official Dymola releases. Information about new released versions can be found at www.dymola.com/FMI. FMU export from Simulink The FMU export package (rtwsfcnfmi target) includes the following updates in FMI Kit for Simulink version 2.3.0: • Support for export on Linux • Support for Matlab R2016a • Support for interpolation of continuous inputs (co-simulation capability canInterpolateInputs=true) • Several minor improvements FMU import into Simulink The FMU import includes the following updates in FMI Kit for Simulink version 2.3.0: • Support for Matlab R2016a • Improved handling and options for inputs • Several minor improvements

52

3.6

Advanced Modelica Support 3.6.1 Improved support for different C++ library versions Dymola 2017 FD01 has improved support for different C++ library versions for different versions of the Visual Studio compiler. This eases the use of some commercial libraries. This support is standardized in Modelica – by automatically switching from win32 (or win64) to the relevant subdirectory, e.g. vs2012 (for Microsoft Visual Studio 2012). Note that this is specific to external C++ code, since there is normally no need to have multiple versions for C libraries. A warning appears if mismatch occurs.

3.6.2 Improved enumeration value conversion Implicit conversion of integers to enumeration values and vice-versa are unsafe. For example, the following model will result in translation warnings: model ImplicitConversions type E = enumeration( A, B); output E e = 2; output Integer i = E.B; end ImplicitConversions;

The warnings:

To safely convert an enumeration value to an integer or vice-versa, the integer or respective enumeration type constructors can be used now: model ExplicitConversions type E = enumeration( A, B); output E e = E(2); output Integer i = Integer(E.B);

Dymola 2017 FD01 Release Notes

53

end ExplicitConversions;

The usage of enumeration constructors to avoid warnings is highly recommended. In future Dymola versions implicit integer to enumeration value conversion might be errors, not just warnings.

3.7

Modelica Standard Library and Modelica Language Specification The current version of the Modelica Standard Library is version 3.2.2. The current version of the Modelica Language Specification is 3.3, Revision 1. Note that the Modelica Standard Library is compliant with the Modelica Language Specification 3.3, Revision 1, which is the most up-to-date definition at the time of this Dymola release. (So this version of the Modelica Language Specification should be used for reference, and not the Modelica Language Specification 3.2, Revision 2.)

3.8

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

3.8.1 Brushless DC Drives Library The Brushless DC Drives Library is intended to assist the process of designing drivetrains containing brushless direct current motors (BLDC). It covers the key components of a BLDC drive system in different levels of detail, e.g. physical, switched, and averaged. Key-Components • Controller, to generate switching signals and optionally control current • Modulation method, with different types of PWM available • Inverter, switching and averaged versions • Electric machine, averaged and multiphase variants Focus The library supports engineers in: • Speed/torque controller design of electric powertrains • Analysis of different powertrain configurations • Controller development and design

54

• • •

Loss estimation and electric machine for thermal simulations Voltage and current ripple effect studies. Energy consumption simulations

Some Use-Cases • Energy consumption or power cycle efficiency, e.g. averaged models in driving cycles • Overload capability estimation based on thermal models • Investigation on system properties based on detailed physical models e.g. DC-link capacitor sizing Typical Areas of Application • Powertrain design: Auxiliary drives in automotive or marine sector • Variable speed drives: Pump- and fan-drives, air-conditioning systems, paper machinery, elevator systems, automotive • Servo drives: Robotics, machine tool industry, automation, aerospace (more electric aircraft)

3.8.2 Cooling Library This new Cooling Library contains components for modeling of liquid and air cooling circuits in a wide range of applications, including automotive, aerospace, industrial equipment, and process industry. The library is structured into a number of sub-packages for different component types. Most of the packages contain models for air as well as incompressible media. In order to distinguish easily models suitable for air from models for incompressible media, all components only for air are blue; components only for incompressible media are orange. It is not possible to use models designated for air with incompressible medium models and vice versa. Complex models with many variables have a summary record where the most important variables are summarized. The content of the main packages of the library: • Examples: Executable demo models to show applications and parameterization of models • Common: Commonly used sub models and functions and predefined icons • Media: Fluid property models • Sources: Fluid boundary condition components • Machines: Fluid machinery, pumps and fans • Pipes: Pipe models and components for flow path modeling • Valves: Valve models for controlling fluid flow • HeatExchangers: Physical and generic models for cold plates and air/liquid heat exchanger • Reservoirs: Expansion devices for closed circuit modeling and generic control volume models

Dymola 2017 FD01 Release Notes

55

•

Sensors: Sensor models. Provide output signals on fluid flow data

3.8.3 Wind Power Library The new Wind Power Library (WPL) is intended for studying the dynamic behavior of modern wind turbines (wind power plants). The initial release includes the following topology: Direct-driven variable-speed permanentmagnet synchronous generator (PMSG) (shown in the figure below).

Short description of the topology: • With the wind speed as input the power that can be harvested from a wind turbine is computed in the wind turbine model TurbineTorque. • The maximum extractable wind power (turbine power) is calculated based on the power coefficient calculated in Polynomial_cp (which is an approximation required for dynamic investigations). • The harvested wind power is transferred to the permanent-magnet synchronous generator (PMSG) and transformed into electrical power.

56

•

•

The back-to-back converter is needed to decouple the variable frequency generatorside from the constant frequency grid-side (means that the frequency is fixed by the grid) If switching elements are used in the back-to-back converter a filter smoothes the switching signals generated in the grid-side converter.

Limitations: • For the back-to-back converter solely averaged models have been implemented so far. Hence, no filter model is provided. • No transformer has been introduced, i.e. the amplitude of the grid voltage is the output voltage of the transformer. Focus: • Study the dynamic behavior of wind turbines • Implement generator-side and grid-side control of a wind turbine. A User´s Guide with several detailed tutorials is available, for example: o How to control a wind turbine depending on the area of operation o How to control the grid-side inverter such that active and reactive power can be transferred to the grid

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 1.13 has been released. New features • The new check valve model can be used in cases where the check valve functionality in other valves is insufficient to describe the components behavior. Here, the opening and closing characteristic of the valve is described by user defined upper and lower pressure limits. • A model for an electronic expansion valve was added. As default it provides the option to define a hysteresis for the relationship between input to a step motor and the valves flow coefficient. The characteristics block can easily be replaced with user defined versions. • A top level volume model with an array of fluid ports was added to support one-to-one connections of stream connectors.

Dymola 2017 FD01 Release Notes

57

Improvements • The orifice tube model now provides additional options in case the used refrigerant is R744: A bypass for inlet pressures larger than a user defined threshold and the possibility to calibrate the tube with available experimental data in case no geometry information is present. • All valve models in AirConditioning.Valves are extended with a check valve option, which prohibits backflow above a user defined leakage flow. • The heat exchanger summary variables Superheat and Subcooling now describe the outlet state downstream of possibly activated headers. Previously, they always referred to the refrigerant channel outlet and neglected downstream headers. • The information section on zero-flow simulation was extended. • Smoothing options for heat transfer correlations were introduced. They are recommended to make zero-flow simulations faster and more robust. Conversion of user libraries No conversion script is required.

3.9.2 Battery Library A new version 1.4 has been released. New features • New Cell Aging Template for cyclic aging, now introducing the support for 2D lookup-tables. • The new SEI growth calendar aging model now works in combination with cyclic aging model. • New cell aging examples and validation profile • BMS MaxPerformancePredictor with information of the actual available power, energy and current • BMS CombinedRestrictor, restricts the desired current to the possible current for the battery • BMS examples for both new features • ParameterFitting.BMS new python script to generate the MaxPerformancePredictor for any created battery cell • New Electrochemical package: o Electrode, separator and cell models providing the spatially distributed behavior of the essential states of the cell. o Material packages enable a flexible definition of concentration and temperature dependent properties. o Pack compatible cell template enables the use of the electrochemical cell models in the existing pack models.

58

3.9.3 Electric Power Library A new version 2.2.4 has been released. The documentation and the Modelica compliance have been improved. No conversion of user libraries is needed.

3.9.4 Electrified Powertrains Library (EPTL) A new version 1.0.1 has been released. New features • Ideal battery added, cell and pack • Added base model for PSM controllers CurrentControllers • Added data file for table-based lossy inverters LumpedLosses Improvements • Replaced absolute angle sensor with relative one in electric machines (AIM and PSM) to enable correct control when useSupport is active, machines for energy analysis changed accordingly • Machine's EnergyAnalyser revised for better plotting • Weakened encryption to show state listing • Documentation for electric machines ConstantEfficiency extended

3.9.5 Engine Dynamics Library A new version 1.2.6 has been released. It is a maintenance release. No conversion of user libraries is needed.

3.9.6 Engines Library A new version 2016.3 has been released. Improvements • Rearrangement of experiments, now categorized into applications demonstrating a number of different use cases: o Engine cooling o Variable cam timing o Turbocharging o Atkinson cycle operation o Multiple injections o Detailed air-flow models with pressure pulsations • Improvement of turbocharger model tests

Dymola 2017 FD01 Release Notes

59

•

Additional intercooler models with the addition of a fan cooled unit and increased detail versions

3.9.7 Flight Dynamics Library A new version 1.0.2 has been released. This is a maintenance release.

3.9.8 Fuel Cell Library A new version 1.4 has been released. New features • New steam reforming reaction model for city gas: FuelCell.Reactions.DynamicCityGasReforming. With this reaction model it is possible to model reactions of heavier hydrocarbon such as Ethane, Propane and Butane (C2H6, C3H8, nC4H10 and iC4H10) • New city gas reformer component: FuelCell.Reactors.Reformers.DynamicCityGasReformer. This is a reformer model that is adapted to the new reforming reaction model for city gas. • New discretized reaction channel template: FuelCell.Reactors.Templates.DistributedDynamicReactor. This discretized pipe model with an integrated dynamic wall can be used as a base component to model complex customized heat interactions. • New discretized reformer component: FuelCell.Reactors.Reformers.DistributedDynamicReformer • New sensors that collect mass flow rate, pressure: temperature, specific enthalpy and mass/mole fractions simultaneously. This makes it easier to get a graphical overview of the states of the system which is particularly useful for larger system models. • New visualizers to show the flow composition in terms of mass and mole fractions. • New option to include heat conduction in the cell material along the flow direction. When activated this option can give more accurate description of the stack temperature distribution at large temperature gradients. • New models to check mass conservation of each element. The user can now in a userfriendly way verify that the mass balance is correct. Improvements • Enhanced the robustness of the dynamic (quasi-equilibrium) reaction models • Made the calculation of Gibbs energy of reaction independent of the reference temperature chosen in the Medium model • Restructured the Burners package and the Reactions package • Improved the user interfaces (parameter dialogs, diagram layer and etc.) of the library • Added visualizers and summary records in example models for easy access to key variables • Added instructions on connection principles for building numerically robust models

60

• •

Improved documentation of various component models Removed obsolete models

Conversion of user libraries Automatic conversion of user libraries from version 1.3.3 is supported using the included conversion script.

3.9.9 Heat Exchanger Library A new version 1.5 has been released. Improvements • Improved robustness of steady state initialization of flat tube and plate heat exchangers. • The number of flattubes per pass is now a non-structural parameter when using the air side model for stand-alone heat exchangers. This means that the number of flattubes can be changed between simulations without re-compiling the model. • Improved Modelica compliance. Conversion of user libraries Automatic conversion of user libraries is supported using the included conversion script. Concerning converting of user models using correlations affected by certain corrected bugs, see the library documentation.

3.9.10 Heating, Ventilation, and Air Conditioning Library (HVAC Library) A new version 2.2.0 has been released. New features • New photovoltaic panel model added (HVACLib.Components.SolarPanels.SolarPanel_PV) • Test model of the new photovoltaic panel model added (HVACLib.Components.SolarPanels.Test.Test_SolarPanel_PV) • Sizing model for AirAirHX_corssflow added (HVACLib.Components.HeatExchanger.Test.Sizing_AirAirHX_crossflow) • Sizing model for LiquidAirHX_corssflow added (HVACLib.Components.HeatExchanger.Test.Sizing_LiquidAirHX_crossflow)

3.9.11

Human Comfort Library

A new version 2.2.0 has been released. This release is a maintenance version.

Dymola 2017 FD01 Release Notes

61

3.9.12

Hydraulics Library

A new version 4.5 has been released. New features • Five new Heat Exchangers and two new Pumps that can be used in ThermoHydraulic applications. The new sub-package ThermoFluid includes off-the-shelf wrapped components from ThermoFluid in Modelon Base Library in order to get Hydraulic ports. This package also includes a tutorial and utilities to wrap any other component from Modelon.ThermoFluid. • Automatic transmission example model demonstrating shift shock phenomenon by including the hydraulic actuation system models and other required mechanics models is added. Improvement Elements.Components.SpoolValve now supports arbitrary equations for describing the relationship between position and area. Conversion of user libraries Automatic conversion of user libraries from version 4.4 is supported using the included conversion script.

3.9.13

Hydro Power Library

A new version 2.6.1 has been released. New feature Visualization of the input actuator signal in following models; Pump, PipeValve, BasicKaplanTurbine and BasicTurbine. This will make it easier to get an overview of the system, especially of large plant models. Improvements • Updated documentation • Improved cross tool compatibility of library • Improved TLM pipe formulation to improve simulation robustness • Improved parametrization of examples Conversion of user libraries No conversion from Hydro Power 2.6 is needed.

3.9.14

Liquid Cooling Library

A new version 1.5.1 has been released.

62

New feature It is now possible to visualize the pressure in every component in the model diagram layer. Improvements • A robustness improvement has been implemented in pump curve models. Too high pressure differences could previous result in extremely large negative flow rates due to extrapolation from the provided pump curve. The pump will now extrapolate reasonable independently of provided data. • Use of the included Jet Fuel models could generate additional non-linear systems of equations, with negative impact on performance, compared to other included media. This has been fixed. This fix will not cause result differences. • Multiple identical pumps operating in parallel can now be modeled by setting a parameter of the pump component to the number of parallel pumps. • Improved documentation of the pump component • The pipe pressure drop models "ConstantZeta" and "VariableZeta" have been merged into "DarcyWeisbach". At the same time "ConstantZetaVarExp" was renamed to "DarcyWeisbachVarExp" for consistency. Conversion of user libraries Automatic conversion of user libraries is supported using the included conversion script.

3.9.15

Pneumatics Library

A new version 2.1 has been released. New features Five new Heat Exchangers, two new Turbines and three new Compressors that can be used in ThermoPneumatic applications. The new sub-package ThermoFluid includes off-the-shelf wrapped components from ThermoFluid in Modelon Base Library in order to get Pneumatic ports. This package also includes a tutorial and utilities to wrap any other component from Modelon.ThermoFluid. Improvements • The ideal gas assumption built into equations of some of the models has been made more generic so that they are compliant with ideal as well as real gases. Models have been made to use variable specific heat capacities. • Mass flow rate in the ports has changed name from mdot to m_flow. • Added noEvent() to all actualStream operator in the volume models. • Improved robustness of the example models in Elements.Examples.

Dymola 2017 FD01 Release Notes

63

Conversion of user libraries Automatic conversion of user libraries is supported using the included conversion script. However, some manual work may be required in some cases. Please see library documentation for details.

3.9.16

Power Train Library

A new version 2.4.0 has been released. New feature Converters: Added simplified buck converter models. The models are less detailed in their dynamics and their protection (overcurrent/undervoltage), but represent the same losses as more detailed models. Improvement ElectricDrives: The electric drives can optionally input a voltage feedforward. This allows much faster torque responses compared to control only on the current. Conversion of user libraries No conversion of user libraries is needed. The version 2.4.0 is backwards compatible to versions 2.x.y.

3.9.17

Thermal Power Library

A new version 1.13 has been released. ThermalPower 1.13 is so far the largest release since the first version. It contains a large set of new features and improvements that will open up new application areas and make the modeling and user experience more efficient and easier. Highlights include a new solar package with components and plant example for Concentrated Solar Power applications including parabolic through and power tower. Another highlight is a nuclear steam generator plant system based on the conceptual design of the ALMR (Advanced Liquid-Metal Reactor) PRISM reactor as documented in the early 1990s, which has been developed in collaboration with Oak Ridge National Laboratory. ThermalPower 1.13 also has a new polynomial based steam and water medium which can be used in dynamic optimization problems or as an alternative to the high precision WaterIF97 when simulation performance is prioritized. Also on the flue gas side there is a new faster alternative to the Nasa based gas media which will speed-up your simulations. For further details see the list of changes below. New features • Solar package with components and plant example for solar applications. The solar sub-library contains models for Concentrated Solar Power applications including parabolic through and power tower. It contains models for energy storage, insulation,

64

•

•

•

•

• •

heliostats, central receiver, cloud coverage, absorber tubes with glass coverage and heat transfer correlations, solar field and the heat transfer fluids TherminalVP1 and Solar salt. There is also a complete central receiver solar power plant based on the test facility Solar Two in California which include the control system and Rankine cycle. Nuclear steam generator plant system. It is based on the conceptual design of the General Electric Company ALMR (Advanced Liquid-Metal Reactor) PRISM reactor as documented in the early 1990s. It was developed in collaboration with Oak Ridge National Laboratory for plant supervisory control. The model includes parallel pumps, bypass valves, moisture separator reheater and control system. It has been developed to be generic and reconfigurable. Polynomial based water and steam medium. It can be used in dynamic optimization problems or as an alternative to the high precision WaterIF97 when simulation performance is prioritized. Fast gas media with analytic inverse functions. This media can be used as a slightly less accurate alternative to the Nasa based gas media with the advantage of improved simulation performance. Multi-stage turbine templates. Several new steam turbine models with various numbers of stages have been added. The user can now quickly set-up the turbine generator system. Visualization of valve input signal. Inverse block for ThermalPower.TwoPhase.Valves.ValveLiquid, and ThermalPower.TwoPhase.TurboMachinery.Pumps.PumpGeneric ThermalPower.TwoPhase.TurboMachinery.Pumps.PumpPosDispl. The inverse block calculates which input that is required for the valve or pump to give a certain massflow. This feature makes it possible to design controllers with feedforward compensation. This is especially useful for level control of drum, condenser and feedwater heaters.

Improvements • Check that nominal parameters have the correct sign. If false an assert is triggered with a descriptive error message. • Extended turbine summary record with vapor mass fraction and inlet and outlet specific enthalpy. • Improved nominal operating point calculation of ThermalPower.TwoPhase.TurboMachinery.Turbines.SteamTurbineStodola. A new parameter h_nom has been added to better separate between nominal and start values. The default value of pstartin and pstart have been changed so they are equal to p1_nom respective p2_nom. Previously the default values of p1_nom and p2_nom were calculated from pstartin and pstart. • Extended condenser, drum and dearator summary record with condensing level in percentage. • Restructured examples package with models sorted according to application area and renaming overCriticalRankine400MWe to superCriticalRankine400MWe. • Improved graphical icons. This makes it easier to align graphical connections.

Dymola 2017 FD01 Release Notes

65

Conversion of user libraries Automatic conversion of user libraries from version 1.12 is supported using the included conversion script.

3.9.18

Vapor Cycle Library

A new version 1.4 has been released. Improvements • A robustness improvement has been implemented in pump curve models. Too high pressure differences could previous result in extremely large negative flow rates due to extrapolation from the provided pump curve. The pump will now extrapolate reasonable independently of provided data. • Multiple identical pumps operating in parallel can now be modeled by setting a parameter of the pump component to the number of parallel pumps. Conversion of user libraries Automatic conversion of user libraries from version 1.3 is supported using the included conversion script.

3.9.19

Vehicle Dynamics Library

A new version 2.4 has been released. New features Additional Strut Components New bushing mounted strut components were introduced in VDL version 2.2. These struts are mounted to the chassis and suspension with bushings. Based on requests from numerous customers, we have added two additional struts that provide mechanical frames connectors on the interface. This allows the connection of the antirollbar, for example, to the strut body.

66

The new struts are found in Suspensions.Linkages.Struts.Mounted. The bushing components are replaceable, and Strut4 has two sets of translational flanges where one can be parameterized to attach either inside or outside the mount bushings. This is useful when springs and dampers are co-located in the suspension but attach on different sides of the mount bushings. Two examples are shown here:

Path Visualizer A path visualizer has been added to provide a visual cue of the path to which the closed-loop lateral driver model is driving towards. The path visualizer is available in both the Dymola 2017 FD01 Release Notes

67

TabularRoad and OpenCRG ground models. The visualization is turned on by setting visualize_path=true. The ISO double lane change maneuver with path visualization:

Improvements Additional Chassis Initialization Parameters Additional parameters have been added to the base chassis interface to make it possible to specify more initial states of the chassis with respect to ground. The parameters: p_x_start, p_y_start, p_z_start, w_z_start have been added to the base interface. These parameters are available on the Initialization tab for all chassis models. Closed-Loop Driver Summary Variables Three summary variables have been added to provide information about the desired path and velocity that the closed-loop driver is driving towards. These include: • summary_rP_x - x-coordinate of driver's desired path • summary_rP_y - y-coordinate of driver's desired path • summary_vP - desired vehicle velocity Wheel Carrier Components There were some minor changes and improvements to the wheel carrier components in Suspensions.Linkages.WheelCarriers: • Axle: The axle has been modified to be based on a new axle template. Every component in the template is defined as replaceable. The axle can now be either compliant or rigid with the same implementation that has been available in the upright. • Hub - An optional offset has been added to offset the hub frame along the spin axis. • Upright - The existing compliant component has been made replaceable. Conversion of user libraries Automatic conversion of user libraries from version 2.3 is supported using the included conversion script.

68

3.9.20

Vehicle Interfaces Library

A new version 1.2.4 has been released. This is a maintenance release. No conversion of user libraries is needed. The version 1.2.4 is backwards compatible to 1.1.x and 1.2.x of the Vehicle Interfaces Library.

3.10

Documentation In the software distribution of Dymola 2017 FD01 Dymola User Manuals of version “September 2016” will be present; these manuals include all relevant features/improvements of Dymola 2017 FD01 presented in the Release notes.

Dymola 2017 FD01 Release Notes

69

3.11

Appendix – Installation: Hardware and Software Requirements Below the current hardware and software requirements for Dymola 2017 FD01 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 2017 FD01 is supported, as 32- and 64-bit application, on Microsoft Windows 7, Windows 8.1, and Windows 10. 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, an Intel compiler, or a GCC compiler, must be installed separately. The following compilers are supported for Dymola 2017 FD01 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)

70

• •

Visual Studio 2013 Express Edition for Windows Desktop (12.0) Visual Studio 2015 Express Edition for Windows Desktop (14.0)

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) • Visual Studio 2015 (14.0) Intel compiler The Intel compiler Intel Parallel Studio XE 2016 is supported. Note that you must also select a Visual Studio compiler when selecting the Intel compiler. Current limitations: • Embedded server (DDE or OPC) is not supported. • Export DLL is not supported. GCC compilers Dymola 2017 FD01 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. 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 during installation 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. • Support for external library resources is implemented, but requires that the resources support GCC, which is not always 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. 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.)

Dymola 2017 FD01 Release Notes

71

Linux Supported Linux versions and compilers Dymola 2017 FD01 runs on SUSE Linux (Release 11), 32-bit and 64-bit, with gcc version 4.9.3, and compatible systems. Any later version of gcc is typically compatible. In addition to gcc, the model C code generated by Dymola can also be compiled by clang. change compiler, change the variable CC in /opt/dymola-/insert/dsbuild.sh, where is i586 for 32-bit application, and x86_64 for 64-bit application. As an example, for a 64-bit Dymola 2017

To

FD01 application: /opt/dymola-2017FD01-x86_64/insert/dsbuild.sh

Dymola 2017 FD01 is supported as a 32-bit and 64-bit application on Linux. Notes • 32-bit compilation might require explicit installation of 32-bit libc. E.g. on Ubuntu: sudo apt-get install g++-multilib libc6-dev-i386 •

•

Dymola is built with Qt 5.5 and thereby inherits the system requirements from Qt. However, several xcb helper libraries are bundled with Qt (in detail, QT was built with the flag –qt-xcb) in order to reduce the system dependencies as much as possible. For rendering of jpg files, libjpg62 must be installed.

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.)

72