latest advances in ecosimpro simulation tool · 2005. 6. 15. · solver for simple applications...
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Latest advances in Latest advances in EcosimProEcosimProSimulation ToolSimulation Tool
Pedro Pedro CobasCobas ((pcepce@@empreempre..eses))
EA INTERNATIONAL EA INTERNATIONAL
ESTEC, Nov 2000 ESTEC, Nov 2000
http://www. http://www.ecosimproecosimpro.com.com
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Index Index
♦ Brief history of EcosimPro♦ What is EcosimPro ?♦ Non-causal modeling♦ Modeling language (EL)♦ Development environment♦ New improvements in Version 3.1♦ ECLSS Library♦ Conclusions
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History of EcosimProHistory of EcosimPro
♦ The project started in 1989 with funds from theEuropean Space Agency (ESA) to simulateEnvironmental Control and Life Support Systemsfor manned spacecraft (Hermes y Columbus)
♦ Since then, it has been used in many other fields:fluids, chemical, control, electrical, propulsion,etc
♦ Version 3.0 in December 1999 for PC-Windows.♦ Version 3.1 in November 2000.
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EcosimPro EcosimPro OVERVIEWOVERVIEWWhat is EcosimPro?♦ EcosimPro is a mathematical tool for modeling and
simulating continuous and discrete systems.♦ It represents the state-of-the-art in continuous non-
causal simulationApplications of EcosimPro♦ EcosimPro is applicable to any problem domain
which can be represented by Differential-AlgebraicEquations (DAE) and Discrete Events.
♦ For example: chemical, thermal, control, hydraulic,electrical ,propulsion etc.
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EcosimProEcosimPro Capabilities (I) Capabilities (I) ♦ Symbolic handling of equations and numeric
solvers for differential-algebraic equations anddiscrete events
♦ Object-oriented modeling language with the latestcapabilities such as multiple inheritance,assertions, virtual equations, etc
♦ Calculation of transient and steady states
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EcosimPro EcosimPro Capabilities (II) Capabilities (II)♦ Visual development environment (similar to
Microsoft Visual Studio)♦ Graphical modeling tool based on dragging and
dropping symbols from a palette♦ Creation of reusable and non-causal components♦ Very powerful equation solvers (nonlinear and
differential-algebraic equation systems)♦ Optimized to work with large models (thousands
of equations)
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EcosimProEcosimPro Capabilities (III) Capabilities (III)♦ Math wizards to help define boundary conditions,
solve algebraic loops and high index mathproblems
♦ C++ and OCX (COM) code generation
♦ Results are easily exported to Excel and Word
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Reuse of ModelsReuse of Models
♦ Non-causal modeling implies that at the time ofmodeling there is no a priori knowledge of theknown and unknown variables. The user onlywrites the laws governing the phenomenon (e.g.v= R*i or i= v/R or 0 = v - R*i)
♦ The modeling is therefore very universal andreusable, causality is defined at the end of theprocess
♦ EcosimPro allows creation of reusable componentlibraries
♦ Until now, the simulation analyst was 80%programmer and 20% modeler. The situation isreversed with EcosimPro
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EcosimPro (non-casual) versusEcosimPro (non-casual) versusSimulink (causal)Simulink (causal)
+
R1 R2
C
Electrical DIAGRAM
L
u
EQUATIONS INSIMULINK DIAGRAM
L / U i’C/ i U’R2 i - U U
R1 / )U - (U i
LL
CC
LL
CC
==
×==
In Simulink, the first step is to write the equations byhand, then sort them with their causality and finallydraw them.
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EcosimPro EcosimPro versus Simulinkversus Simulink
+
R1 R2
C
Electrical DIAGRAM
L
u
In Simulink the modeler “draws” the equations butnot the system to be modeled.
SIMULINK DIAGRAM
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EcosimPro versus SimulinkEcosimPro versus SimulinkIn EcosimPro the modeler first creates thebasic components and then reuses them: COMPONENT Capacitor IS_A Twopins
DATA
REAL C = 1e-6 “Capacitance (Farads)”
CONTINUOUS
v’ = i / C -- Capacitor law
END COMPONENT
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EcosimPro versus SimulinkEcosimPro versus Simulink
+
R1 R2
C
Electrical DIAGRAM
L
u
EcosimPro DIAGRAM
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Object-Oriented Dynamic Object-Oriented Dynamic ModelingModelingAdvantages:♦ 1- It allows non-causal modeling♦ 2- It is easier to reuse♦ 3- It is easier to maintain and extend (compare with
old FORTRAN programs).♦ 4- At last the modeler models dynamic systems, it
is not only a low level programmer!
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EL (EcosimPro Language):EL (EcosimPro Language): The The ModelingModeling Language Language
♦ Very intuitive syntax♦ Object oriented (multiple inheritance, aggregation,
etc)♦ Enumeration type data♦ Multidimensional arrays♦ 1D, 2D and 3D tables♦ Connection with FORTRAN, C and C++ functions♦ Use of assertions to check consistence at all
times♦ Representation of DAEs, ODEs and discrete
events♦ Simple and intuitive concept of components
library
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EL: Example of Point MassEL: Example of Point MassMovementMovement
COMPONENT point
DATA
REAL m = 1 "mass (Kg)"
DECLS
REAL F "force (Newton)"
REAL x "space (m)"
CONTINUOUS
F = m * x´´ -- Newton's law
END COMPONENT
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Heater Component of Heater Component of ECLSSECLSSLibraryLibrary
COMPONENT Heater IS_A HeatStorageChannel
PORTS
IN analog_signal s_pow "Power signal"
DATA
REAL dp_ref "Reference pressure loss (Pa)"
REAL w_ref "Reference mass flow for pressure loss data (kg/s)"
REAL rho_ref "Reference density for pressure loss data (kg/m^3)"
REAL dp_lam = 10 "Pressure drop for laminar flow (Pa)"
DISCRETE
ASSERT (abs(f_out.rho - f_in.rho) / f_in.rho < 0.1) WARNING \
"Density change too high for uncompressible flow formulation”
CONTINUOUS
-- Momentum
f_in.w = w_ref * ssqrt((f_in.p - f_out.p)* f_in.rho / rho_ref)
-- Energy equations
q = s_pow.signal
END COMPONENT
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ECOSIM 3.0 Visual Studio
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ECOSIM 3.0 Experiments Monitor
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ECOSIM 3.0 Experiments Monitor
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Example 1Example 1
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New features New features in in Version Version 3.1 (I)3.1 (I)♦ Sparse solver for handling problems with
thousand of state variables. There are disciplineswhere the number of state variables is very large(thermal, chemical, etc.), previous version (3.0) hada limitation about 350 state variables. New versioncan handle models with thousands of statevariables.
♦ Implemented a classical four order Runge-Kuttasolver for simple applications (very fast!).
♦ Automatic generation of an ActiveX DLL toconnect any EcosimPro model to Microsoftapplications. Typically the user can run thesimulations from Excel. He can create quickly amacro to associate an EcosimPro model to anExcel sheet.
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New features New features in in Version Version 3.1 (II)3.1 (II)♦ Faster and more reliable interaction with graphical
tool SmartSketch.♦ New object editors in SmartSketch. They are more
simple to use. The units and description of dataare displayed now.
♦ Improvement in the automatic “update” feature(makefile in UNIX).
♦ Improved editors for 2D and 3D tables♦ Clever handling of external libraries (eg FORTRAN)♦ Better suggestions from the mathematical wizards♦ More intelligence detecting equivalent variables in
systems
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New features New features in in Version Version 3.1 (III)3.1 (III)♦ The wizard for high index able to solve more
complex problems.♦ New EXPAND_BLOCK statement for generating in
a single block many equations (like EXPAND for agroup of equations)
♦ More than 100 small bugs solved♦ Many small improvements suggested by users
implemented♦ Saving of graphics configuration now saves all
changes
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New features New features in in Version Version 3.1 (IV)3.1 (IV)♦ Improved log info when no covergence in models
occurs♦ Better control of convergence for steady states♦ Access to all Ecosim Manuals from the GUI♦ New plots versus TIME and any other variable♦ New thermometer gauge for experiments♦ Simplified the regular expressions mechanism for
reporting variables
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EcosimPro EcosimPro LibrariesLibraries
♦ ECLSS Library♦ Thermal Library♦ Control Library
Other Libraries:♦ Propulsion Library♦ Pipe Network Library♦ Electrical Library♦ Heat Balance of Power Plants
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ECLSS Library - Palette ofECLSS Library - Palette ofComponentsComponents
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Control Library Control Library -- Palette of Components Palette of Components
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Thermal Library -Thermal Library - Palette of Components Palette of Components
BNode DNode DNphases GL
GR Heater
Peltier
Q_sensorQtp_in tp_out
T_sensor
T
TD_GLWall
1 2 n..
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Cabin
TCO2
RH
O2
Pipe
supply
Heater
ret_grids_40a
Crew_2
crew_41
Throa t
hatch_44a
Throathatch_44b
PipeWithBends
muffler_49
tee_50
PipeWithBends
duct_51
FanPoly
fan_52
PipeWithBends
duct_53
tee_54
PipeWithBends
duct_55
Pipe housing_56
FilterSimple filter_57
chex_59
Pipe bypas_60
tcv_61a tcv_61b
tcu_61c
PipeWithBends
duct_64
Inlet_w sepairin_67
Inlet_p_w
h2oin_68
Pipe
duct_70
FanPoly
fan_72
Pipe
duct_73 isov_76
PipeWithBends
duct_80
Pipe
duct_82 isov_85
Inlet_p
node_97
Outlet_p
node_98
node_99a
Outlet_p
Inlet_p node_99b
filtercabin_40
FanPoly
fan_81
actuator
Chex
ValveSimple
ValveSimple
ValveSimple
ValveSimple
Tee_Split
Wye_
Conv
S_Lag
LAG
Cntrl_pid_dig
PIDS V
S_Lag
LAG
APM Cabin Air Loop Model byAPM Cabin Air Loop Model byAstrium / ESAAstrium / ESA
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ISS IMV Model by NASA ISS IMV Model by NASA
Cabin
Cabin
IMV
Cabin
Cabin
IMV
IMV
Cabin
IMV
IMV
Cabin
IMV
IMV
Cabin
IMV
Cabin
IMV
Dead_inlet
Dead_inlet
Dead_inlet
Cabin
IMV
CabinDead_inlet
IMV
IMV
Cabin
IMV
Cabin
Cabin
Cabin
IMV
IMV
IMV
Crew
RM1
RM2
SM
LSM
SMA
UDM
Node1 Lab
Hab
Node2
JEM
Cent2
ESA
Cent1
Node1_Cent1
Node1_Lab Lab_Node2 Node2_Cent2
Node2_JEM
Node2_ESAHab_LabHab_Node1
RM1_UDM
RM2_UDM
LSM_UDM
SM_LSM
SM_SMA
SM_Node1
SMA_Node1
UDM_SMACO2_Removal
CO2_Removal
CO2_Removal
CO2_Removal
Cent1US_CO2_Removal_1
US_CO2_Removal_2
Russian_CO2_Removal_2
Russian_CO2_Removal_1
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Aerospace Organisations UsingAerospace Organisations UsingEcosimPro EcosimPro ((OctOct-2000)-2000)
♦ ESA-ESTEC (Holland)♦ NASA Marshall Space Flight Center (USA) is using
EcosimPro for all new ECLSS models for the ISS♦ Astrium, Germany (ECLSS and Propulsion)♦ ALENIA, Italy (ECLSS)♦ SNECMA, France (Gas Turbines)♦ Hurel Dubois, France (Thermal and Propulsion)♦ ITP, Spain (Control and Propulsion)♦ Evaluanting now: Rolls Royce (Fluids and
Hydraulics), EADS Spain (Thermal), Boeing(ECLSS), Lockeed Martin (ECLSS), BritishAerospace
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ConclusionsConclusions
♦ EcosimPro is a flexible tool, that can be adaptedto multiple fields.
♦ It supports physical modelling (the model lookslike the actual system)
♦ The user can create new components and newLibraries (he does not depend on the softwaredeveloper).
♦ New version 3.1 implements many newcapabilities requested by users
♦ New versions will include optimisation, parameterestimatitions, modelling of some PDE’s, etc.
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More More InformationInformation......♦♦♦♦ New web from September 2000 with fullinformation about existing libraries,applications, support, resellers, etc. WEB: www.ecosimpro.comE-Mail: [email protected]♦♦♦♦ It exists an Internet group to be informedabout modeling issues, new releases, etc. It isfree to join the group. Visit the pagewww.coollist.com and join the group“ecosim-group”.♦♦♦♦ Free evaluation version valid for 30 days
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EcosimProEcosimPro COURSES COURSES♦♦♦♦ Special courses for ECLSS, Thermal andPropulsion engineers.♦♦♦♦ The course takes three days♦♦♦♦ New courses are organized every four-fivemonths. Updated info in our web page.♦♦♦♦ Next course by Jan-Feb-2001 (ESTEC orMadrid?).♦♦♦♦ Price: around 450 EUROS♦♦♦♦ Contact P. Cobas ([email protected]) or OlivierPin ([email protected])
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PRICESPRICES♦♦♦♦ 1 permanent license: 2500 USD
♦♦♦♦ 1 University Depart. license: 1500 USD
♦♦♦♦ 1 Limited Edition(60 equations): 240 USD