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Model-based Embedded Control using Rosenbrock Integration Methods

Olsson, Hans and Mattsson, Sven Erik and Otter, Martin and Pfeiffer, Andreas and Bürger, Christoff and Henriksson, Dan (2017) Model-based Embedded Control using Rosenbrock Integration Methods. In: Proceedings of the 12th International Modelica Conference, pp. 517-526. Modelica Association. 12th International Modelica Conference, 15.-17. Mai 2017, Prag, Tschechien. doi: 10.3384/ecp17132. ISBN 978-91-7685-575-1. ISSN 1650-3686.

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Official URL: https://doi.org/10.3384/ecp17132517


Directly generating controller code from models is important for advanced model-based design. This paper describes how Dymola can generate embedded C-code from Modelica models, designed to be easy to embed, with care about minimal foot-print, traceability, and straightforward integration in embedded platforms and gives actual application examples. The paper focuses on using Rosenbrock methods for index-1 problems (instead of the normal transformation to index 0) that allows Dymola to handle stiff systems in a way that both is theoretically sound and has an upper bound on the execution time per sample. The stiff systems in the control system often occur due to using an inverse (simplified) model of the real plant in the controller. A nonlinear feedforward controller and a controller with feedback linearization, both applying an inverse model, demonstrate the proposed process by using Rosenbrock methods for embedded code generation.

Item URL in elib:https://elib.dlr.de/112505/
Document Type:Conference or Workshop Item (Speech)
Title:Model-based Embedded Control using Rosenbrock Integration Methods
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Olsson, HansDassault Systèmes ABUNSPECIFIED
Mattsson, Sven ErikDassault Systèmes ABUNSPECIFIED
Otter, MartinDLR Institut für Systemdynamik und RegelungstechnikUNSPECIFIED
Pfeiffer, AndreasDLR Institut für Systemdynamik und RegelungstechnikUNSPECIFIED
Bürger, ChristoffDassault Systèmes ABUNSPECIFIED
Henriksson, DanDassault Systèmes ABUNSPECIFIED
Date:15 May 2017
Journal or Publication Title:Proceedings of the 12th International Modelica Conference
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
DOI :10.3384/ecp17132
Page Range:pp. 517-526
EditorsEmailEditor's ORCID iD
Publisher:Modelica Association
Keywords:Modelica, inverse models, real-time, embedded, Rosenbrock methods, inline integration, feedforward controller, feedback linearization
Event Title:12th International Modelica Conference
Event Location:Prag, Tschechien
Event Type:international Conference
Event Dates:15.-17. Mai 2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität (old), V - Fahrzeugintelligenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Leitungsbereich SR
Institute of System Dynamics and Control > Vehicle System Dynamics
Deposited By: Pfeiffer, Andreas
Deposited On:30 Aug 2017 16:29
Last Modified:31 Jul 2019 20:09

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