Principles of Object-Oriented Modeling and Simulation with Modelica 2.1

Autorzy: Peter Fritzson Wydawnictwo: Wiley Data wydania: 2010 Język publikacji: Angielski Liczba stron: 942 Formaty publikacji: EAN: 9780470937617 ISBN: 9780470937617 Kategoria: Computer programming / software development Indeks wydawcy: - Nota bibliograficzna: -

Opis

• Provides an introduction to modern object-oriented design principles and applications for the fast-growing area of modeling and simulation
• Covers the topic of multi-domain system modeling and design with applications that have components from several areas
• Serves as a reference for the Modelica language as well as a comprehensive overview of application model libraries for a number of application domains

Spis treści

• Principles of Object-Oriented Modeling and Simulation with Modelica 2.1 6
  • Table of Contents 18
  • Part I Introduction 46
    • Chapter 1 Introduction to Modeling and Simulation 48
      • 1.1 Systems and Experiments 48
        • 1.1.1 Natural and Artificial Systems 49
        • 1.1.2 Experiments 50
      • 1.2 The Model Concept 51
      • 1.3 Simulation 52
        • 1.3.1 Reasons for Simulation 52
        • 1.3.2 Dangers of Simulation 53
      • 1.4 Building Models 53
      • 1.5 Analyzing Models 54
        • 1.5.1 Sensitivity Analysis 54
        • 1.5.2 Model-Based Diagnosis 55

• Principles of Object-Oriented Modeling and Simulation with Modelica 2.1 6
  • Table of Contents 18
  • Part I Introduction 46
    • Chapter 1 Introduction to Modeling and Simulation 48
      • 1.1 Systems and Experiments 48
        • 1.1.1 Natural and Artificial Systems 49
        • 1.1.2 Experiments 50
      • 1.2 The Model Concept 51
      • 1.3 Simulation 52
        • 1.3.1 Reasons for Simulation 52
        • 1.3.2 Dangers of Simulation 53
      • 1.4 Building Models 53
      • 1.5 Analyzing Models 54
        • 1.5.1 Sensitivity Analysis 54
        • 1.5.2 Model-Based Diagnosis 55
        • 1.5.3 Model Verification and Validation 55
      • 1.6 Kinds of Mathematical Models 55
        • 1.6.2 Dynamic vs. Static Models 56
        • 1.6.1 Kinds of Equations 56
        • 1.6.3 Continuous-Time vs. Discrete-Time Dynamic Models 57
        • 1.6.4 Quantitative vs. Qualitative Models 58
      • 1.7 Using Modeling and Simulation in Product Design 59
      • 1.8 Examples of System Models 60
      • 1.10 Literature 63
      • 1.9 Summary 63
    • Chapter 2 A Quick Tour of Modelica 64
      • 2.1 Getting Started with Modelica 64
        • 2.1.1 Variables 67
        • 2.1.3 Constants 69
        • 2.1.2 Comments 69
        • 2.1.4 Default start Values 70
      • 2.2 Object-Oriented Mathematical Modeling 70
      • 2.3 Classes and Instances 71
        • 2.3.1 Creating Instances 71
        • 2.3.2 Initialization 72
        • 2.3.3 Restricted Classes 73
        • 2.3.4 Reuse of Modified Classes 73
        • 2.3.5 Built-in Classes 74
      • 2.4 Inheritance 74
      • 2.5 Generic Classes 75
        • 2.5.1 Class Parameters Being Instances 75
        • 2.5.2 Class Parameters being Types 76
      • 2.6 Equations 77
        • 2.6.1 Repetitive Equation Structures 78
        • 2.6.2 Partial Differential Equations 79
      • 2.7 Acausal Physical Modeling 79
        • 2.7.1 Physical Modeling vs. Block-Oriented Modeling 80
      • 2.8 The Modelica Software Component Model 81
        • 2.8.1 Components 82
        • 2.8.2 Connection Diagrams 82
        • 2.8.3 Connectors and Connector Classes 83
        • 2.8.4 Connections 83
      • 2.9 Partial Classes 84
        • 2.9.1 Reuse of Partial Classes 85
      • 2.10 Component Library Design and Use 86
      • 2.11 Example: Electrical Component Library 86
        • 2.11.1 Resistor 86
        • 2.11.2 Capacitor 86
        • 2.11.3 Inductor 87
        • 2.11.4 Voltage Source 87
        • 2.11.5 Ground 88
      • 2.12 The Simple Circuit Model 88
      • 2.13 Arrays 89
      • 2.14 Algorithmic Constructs 91
        • 2.14.1 Algorithms 91
        • 2.14.2 Statements 91
        • 2.14.3 Functions 92
        • 2.14.4 Function and Operator Overloading 93
        • 2.14.6 Algorithms Viewed as Functions 94
        • 2.14.5 External Functions 94
      • 2.15 Discrete Event and Hybrid Modeling 95
      • 2.16 Packages 98
      • 2.17 Annotations 99
      • 2.19 Modelica Standard Libraries 100
      • 2.18 Naming Conventions 100
      • 2.20 Implementation and Execution of Modelica 102
        • 2.20.1 Hand Translation of the Simple Circuit Model 103
        • 2.20.2 Transformation to State Space Form 105
        • 2.20.3 Solution Method 106
      • 2.21 History 108
      • 2.22 Summary 110
      • 2.23 Literature 110
      • 2.24 Exercises 112
    • Part II The Modelica Language 116
      • Chapter 3 Classes, Types, and Declarations 118
        • 3.1 Contract Between Class Designer and User 118
        • 3.2 A Class Example 119
        • 3.3 Variables 119
          • 3.3.3 Initialization of Variables 120
          • 3.3.1 Duplicate Variable Names 120
          • 3.3.2 Identical Variable Names and Type Names 120
        • 3.4 Behavior as Equations 121
        • 3.5 Access Control 122
        • 3.6 Simulating the Moon Landing Example 123
          • 3.6.1 Object Creation Revisited 125
        • 3.7 Short Classes and Nested Classes 125
          • 3.7.1 Short Class Definitions 125
          • 3.7.2 Local Class Definitions-Nested Classes 125
        • 3.8 Restricted Classes 126
          • 3.8.1 Restricted Class: model 126
          • 3.8.3 Restricted Class: type 127
          • 3.8.4 Restricted Class: connector 127
          • 3.8.2 Restricted Class: record 127
          • 3.8.5 Restricted Class: block 127
          • 3.8.6 function 128
          • 3.8.7 package 128
        • 3.9 Predefined Types/Classes 129
          • 3.9.1 Real Type 130
          • 3.9.3 Enumeration Types 131
          • 3.9.2 Integer, Boolean, and String Types 131
          • 3.9.4 Other Predefined Types 132
        • 3.11 Declaration Prefixes 133
          • 3.11.1 Access Control by Prefixes: public and protected 133
          • 3.11.2 Variability Prefixes: constant, parameter and discrete 134
          • 3.11.5 Modification Prefixes: replaceable, redeclare, and final 136
          • 3.11.3 Causality Prefixes: input and output 136
          • 3.11.4 Flow Prefix: flow 136
          • 3.11.8 Instance Hierarchy Lookup Prefixes: inner and outer 138
          • 3.11.6 Class Prefix: partial 138
          • 3.11.9 Ordering of Prefixes 138
          • 3.11.7 Class Encapsulation Prefix: encapsulated 138
          • 3.11.10 Variable Specifiers 139
          • 3.11.11 Initial Values of Variables 139
        • 3.10 Structure of Variable Declarations 133
        • 3.12 Declaration Order and Use Before Declaration 140
        • 3.13 Scoping and Name Lookup 141
          • 3.13.1 Nested Name Lookup 141
          • 3.13.2 Nested Lookup Procedure in Detail 142
          • 3.13.3 Instance Hierarchy Lookup Using inner and outer 144
        • 3.14 The Concepts of Type and Subtype 145
          • 3.14.1 Conceptual Subtyping of Subranges and Enumeration Types 147
          • 3.14.2 Tentative Record/Class Type Concept 147
          • 3.14.3 Array Type 148
          • 3.14.4 Function Type 149
          • 3.14.5 General Class Type 149
          • 3.14.6 Types of Classes That Contain Local Classes 150
          • 3.14.7 Subtyping and Type Equivalence 151
          • 3.14.8 Use of Type Equivalence 151
          • 3.14.9 Definition of Type Equivalence 152
          • 3.14.10 Use of Subtyping 152
          • 3.14.11 Definition of Subtyping 153
        • 3.15 Summary 153
        • 3.16 Literature 154
        • 3.17 Exercises 154
      • Chapter 4 Inheritance, Modifications, and Generics 156
        • 4.1 Inheritance 157
          • 4.1.1 Inheritance of Equations 157
          • 4.1.2 Multiple Inheritance 158
          • 4.1.3 Processing Declaration Elements and Use Before Declare 159
          • 4.1.4 Declaration Order of extends Clauses 160
          • 4.1.5 The MoonLanding Example Using Inheritance 160
          • 4.1.6 Inheritance and Subtyping 161
          • 4.1.7 Inheritance of Protected Elements 162
          • 4.1.8 Short Class Definition as Inheritance 162
          • 4.1.9 Extending Predefined Types/Classes 163
          • 4.1.10 Redefining Declared Elements at Inheritance 164
        • 4.2 Inheritance Through Modification 164
          • 4.2.1 Modifiers in Variable Declarations 164
          • 4.2.2 Modifiers for Constant Declarations 165
          • 4.2.3 Modifiers for Array Variables 165
            • 4.2.3.1 Iterative Array Element Modification Using each 165
            • 4.2.3.2 Modification of Arrays with Nonconstant Extent 166
          • 4.2.4 Modifiers in Short Class Definitions 167
          • 4.2.5 Modifiers in extends Clauses 167
          • 4.2.7 Priority of Modifications 168
          • 4.2.6 Modification of Nested extends Clauses 168
          • 4.2.8 Modification of Protected Elements 169
          • 4.2.9 Hierarchical Modification 169
          • 4.2.10 Single Modification Rule 170
        • 4.3 Redeclaration 170
          • 4.3.1 Redeclaration of Elements not Declared replaceable 171
          • 4.3.2 Modification Prefix: replaceable 172
          • 4.3.3 Modification Prefix: redeclare 172
          • 4.3.4 Modification Prevention Prefix: final 173
          • 4.3.5 Constraining Type of Replaceable Elements 174
          • 4.3.6 Summary of Restrictions on Redeclarations 176
          • 4.3.7 Redeclarations of Annotation Choices 177
        • 4.4 Parameterized Generic Classes 178
          • 4.4.1 Class Parameterization Using Replaceable and Redeclare 178
          • 4.4.2 Class Parameters Being Components 179
          • 4.4.4 Class Parameters Being Types 180
          • 4.4.3 Generalizing Constraining Types of Class Parameters 180
          • 4.4.5 Parameterization and Extension of Interfaces 181
        • 4.5 Designing a Class to Be Extended 182
          • 4.5.1 Reuse of Variable Declarations from Partial Base Classes 183
          • 4.5.2 Extending and Redefining Behavior 184
        • 4.7 Literature 185
        • 4.8 Exercises 185
        • 4.6 Summary 185
      • Chapter 5 Components, Connectors, and Connections 190
        • 5.1 Software Component Models 190
          • 5.1.2 Connection Diagrams 191
          • 5.1.1 Components 191
        • 5.2 Connectors and Connector Classes 191
        • 5.3 Connections 193
          • 5.3.1 The flow Prefix and Kirchhoff s Current Law 193
          • 5.3.3 Electrical Connections 194
          • 5.3.2 connect Equations 194
          • 5.3.4 Mechanical Connections 195
          • 5.3.5 Acausal, Causal, and Composite Connections 196
        • 5.4 Connectors, Components, and Coordinate Systems 196
          • 5.4.1 Coordinate Direction for Basic Electrical Components 197
          • 5.4.2 Mechanical Translational Coordinate Systems and Components 198
          • 5.4.3 Multiple Connections to a Single Connector 200
            • 5.4.3.1 ResistorCircuit 200
            • 5.4.3.2 TripleSprings 201
          • 5.4.4 An Oscillating Mass Connected to a Spring 201
        • 5.5 Design Guidelines for Connector Classes 203
          • 5.5.1 Physical Connector Classes Based on Energy Flow 204
          • 5.5.2 Signal-based Connector Classes 206
          • 5.5.3 Composite Connector Classes 207
        • 5.6 Connecting Components from Multiple Domains 207
        • 5.7 Detailed Connection Semantics 207
          • 5.7.1 Hierarchically Structured Components with Inside and Outside Connectors 208
          • 5.7.2 Connection Restrictions on Input and Output Connectors 209
          • 5.7.3 Connection Constraints regarding Arrays, Subscripts, and Constants 211
            • 5.7.3.1 Array Dimensionality Matching 211
            • 5.7.3.2 Constant or Parameter Subscript Constraint 212
          • 5.7.4 Connecting Arrays of Connectors 212
          • 5.7.5 Generation of Connection Equations 214
            • 5.7.5.1 Connection Sets 214
            • 5.7.5.2 Connection Equations for Nonflow Variables 216
            • 5.7.5.3 Connection Equations for Flow Variables 216
            • 5.7.5.5 inner/outer Connector Matching 217
            • 5.7.5.4 Connection Equations for Constants and Parameters 217
          • 5.7.6 Cardinality-dependent Connection Equations 218
          • 5.7.7 The Direction of a Connection 218
        • 5.8 Implicit Connections with the inner/outer Construct 218
          • 5.8.1 Access of Shared Environment Variables 219
          • 5.8.2 Implicit versus Explicit Connection Structures 220
          • 5.8.3 Implicit Interaction within a Gravitational Force Field 222
        • 5.10 Summary 226
        • 5.11 Literature 226
        • 5.9 Overconstrained Connection Graphs 226
        • 5.12 Exercise 226
      • Chapter 6 Literals, Operators, and Expressions 228
        • 6.2 Comments 228
        • 6.1 Character Set 228
        • 6.3 Identifiers, Names, and Keywords 229
          • 6.3.1 Identifiers 229
          • 6.3.2 Names 230
          • 6.3.3 Modelica Keywords 230
        • 6.4 Predefined Types 230
        • 6.5 Literal Constants 231
          • 6.5.2 Integers 231
          • 6.5.3 Booleans 231
          • 6.5.1 Floating Point Numbers 231
          • 6.5.4 Strings 231
          • 6.5.5 Enumeration Literals 232
          • 6.5.6 Array Literals 232
          • 6.5.7 Record Literals 232
        • 6.6 Operator Precedence and Associativity 232
        • 6.7 Order of Evaluation 233
          • 6.7.1 Guarding Expressions Against Incorrect Evaluation 234
            • 6.7.1.1 Guards with Discrete-Time Conditions 234
            • 6.7.1.2 Guards with Continuous-Time Conditions 234
          • 6.8 Expression Type and Conversions 235
            • 6.8.1 Type Conversions 235
              • 6.8.1.2 Explicit Type Conversions 236
              • 6.8.1.1 Implicit Type Conversions 236
            • 6.9 Variability of Expressions 237
              • 6.9.l Constant Expressions 237
              • 6.9.2 Parameter Expressions 237
              • 6.9.4 Continuous-Time Expressions 238
              • 6.9.3 Discrete-Time Expressions 238
              • 6.9.5 Variability and Subtyping 239
            • 6.10 Arithmetic Operators 240
              • 6.10.1 Integer Arithmetic 240
              • 6.10.2 Floating Point Arithmetic 240
            • 6.11 Equality, Relational, and Logical Operators 241
            • 6.12 Miscellaneous Operators 242
              • 6.12.2 The Conditional Operatorif-expressions 242
              • 6.12.1 String Concatenation 242
              • 6.12.5 Built-in Variable time 243
              • 6.12.3 Member Access Operator 243
              • 6.12.4 User-defined Overloaded Operators 243
            • 6.13 Built-in Intrinsic Mathematical Functions 244
            • 6.14 Built-in Special Operators and Functions 246
              • 6.14.1 Event Iteration and the pre Function 249
            • 6.16 Literature 249
            • 6.17 Exercises 249
            • 6.15 Summary 249
          • Chapter 7 Arrays 252
            • 7.1 Array Declarations and Types 252
              • 7.1.1.1 Array Dimension Lower and Upper Index Bounds 253
              • 7.1.2 Flexible Array Sizes 254
              • 7.1.3 Array Types and Type Checking 254
            • 7.2 General Array Construction 255
              • 7.2.1 Range Vector Construction 256
              • 7.2.2 Set FormersArray Constructors with Iterators 257
            • 7.3 Array Concatenation and Construction 258
              • 7.3.1 Type Rules for Concatenation 259
              • 7.3.2 More on Concatenation Along the First and Second Dimensions 260
                • 7.3.2.1 Examples 261
              • 7.4 Array Indexing 261
                • 7.4.1.1 Indexing with Boolean or Enumeration Values 262
                • 7.4.1.2 Indexing with end 262
                • 7.4.1 Indexing with Scalar Index Expressions 262
                • 7.4.2 Accessing Array Slices with Index Vectors 262
                • 7.4.3 Array Record Field Slices of Record Arrays 263
              • 7.5 Using Array Concatenation and Slices 264
                • 7.5.1 Advise for Users with Matlab Background 264
                • 7.5.2 Usage Examples 265
                  • 7.5.2.2 Composing a Blocked Matrix from Submatrices 265
                  • 7.5.2.1 Appending an Element to Vectors and Row/Column Matrices 265

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Afiljacja autora

Peter Fritzson: Linkoping University, Sweden