Modelica Libraries

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Modelica Standard Library

Modelica Standard Library (called Modelica) is a

standardized predefined package developed by Modelica
Association

It can be used freely for both commercial and noncommercial

purposes under the conditions of The Modelica License.

Modelica libraries are available online including documentation

and source code from
http://www.modelica.org/library/library.html.

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 Modelica Standard Library cont’
The Modelica Standard Library contains components from
various application areas, including the following sublibraries:
• Blocks Library for basic input/output control blocks
• Constants Mathematical constants and constants of nature
• Electrical Library for electrical models
• Icons Icon definitions
• Fluid 1-dim Flow in networks of vessels, pipes, fluid machines, valves, etc.
• Math Mathematical functions
• Magnetic Magnetic.Fluxtubes – for magnetic applications
• Mechanics Library for mechanical systems
• Media Media models for liquids and gases
• SIunits Type definitions based on SI units according to ISO 31-1992
• Stategraph Hierarchical state machines (analogous to Statecharts)
• Thermal Components for thermal systems
• Utilities Utility functions especially for scripting

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Modelica.Blocks

Continuous, discrete, and logical input/output blocks

to build block diagrams.

Library

Continuous

Examples:

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 Modelica.Constants

A package with often needed constants from mathematics,

machine dependent constants, and constants of nature.

Examples:
constant Real pi=2*Modelica.Math.asin(1.0);

constant Real small=1.e-60 "Smallest number such that small and –small
are representable on the machine";

constant Real G(final unit="m3/(kg.s2)") = 6.673e-11 "Newtonian constant

of g
gravitation";
;

constant Real h(final unit="J.s") = 6.62606876e-34 "Planck constant";

constant Modelica.SIunits.CelsiusTemperature T_zero=-273.15 "Absolute

zero temperature”;

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Modelica.Electrical

Electrical components for building analog, digital, and

multiphase circuits

Library Library Library Library

Analog Digital Machines MultiPhase

Examples:
V2

R2 R4

Gnd9

C2 Gnd3 Gnd6 C4
R1 Transistor1 Transistor2 R3

V1 C1 I1 C5 C3 Gnd4

Gnd1 Gnd2 Gnd7 Gnd8 Gnd5

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 Modelica.Icons

Package with icons that can be reused in other libraries

Examples:

Library

Info Library Example

Info Library1 Library2 Example

RotationalSensor TranslationalSensor GearIcon MotorIcon

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Modelica.Math

Package containing basic mathematical functions:

sin(u) sine
cos(u) cosine
tan(u) tangent (u shall not be: …,-/2, /2, 3/2,… )
asin(u) inverse sine (-1  u  1)
acos(u) inverse cosine (-1  u  1)
atan(u) inverse tangent
atan2(u1, u2) four quadrant inverse tangent
sinh(u) hyperbolic sine
cosh(u)
h( ) h
hyperbolic
b li cosine
i
tanh(u) hyperbolic tangent
exp(u) exponential, base e
log(u) natural (base e) logarithm (u  0)
log10(u) base 10 logarithm (u  0)

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 Modelica.Mechanics

Package containing components for mechanical systems

Subpackages:
• Rotational 1-dimensional rotational mechanical components
• Translational 1-dimensional translational mechanical components
• MultiBody 3-dimensional mechanical components

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Modelica.SIunits

This package contains predefined types based on the

international standard of units:

• ISO 31-1992 “General principles concerning quantities, units and symbols”

• ISO 1000-1992 “SI units and recommendations for the use of their
multiples and of certain other units”.

A subpackage called NonSIunits is available containing non

SI units such as Pressure_bar, Angle_deg, etc

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 Modelica.Stategraph

Hierarchical state machines (similar to Statecharts)

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Modelica.Thermal

Subpackage FluidHeatFlow with components for heat flow

modeling.

Sub
S b package
k HeatTransfer f with ith components
t to
t model
d l11-
dimensional heat transfer with lumped elements

Example:

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 ModelicaAdditions Library (OLD)

ModelicaAdditions library contains additional Modelica

libraries from DLR. This has been largely replaced by the new
release of the Modelica 33.1
1 libraries
libraries.
Sublibraries:
• Blocks Input/output block sublibrary
• HeatFlow1D 1-dimensional heat flow (replaced by Modelica.Thermal)
• Multibody Modelica library to model 3D mechanical systems
• PetriNets Libraryy to model Petri nets and state transition diagrams
g
• Tables Components to interpolate linearly in tables

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ModelicaAdditions.Multibody (OLD)

This is a Modelica library to model 3D Mechanical systems

including visualization
New version
N i hhas b
been released
l d ((march
h 2004) th
thatt iis called
ll d
Modelica.Mechanics.MultiBody in the standard library
Improvements:
• Easier to use
• Automatic handling of kinematic loops.
• Built-in animation properties for all components

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 MultiBody (MBS) - Example Kinematic Loop

Old library New library

(cutjoint needed) (no cutjoint needed)

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MultiBody (MBS) - Example Animations

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 ModelicaAdditions.PetriNets

This package contains components to model Petri nets

Used for modeling of computer hardware, software, assembly
li
lines, etc
t

Transition

Place

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Other Free Libraries

• WasteWater Wastewater treatment plants, 2003

• ATPlus Building simulation and control (fuzzy control included), 2005
• MotorCycleDymanics Dynamics and control of motorcycles, 2009
• N
NeuralNetwork
lN k N
Neural l network
k mathematical
h i l models,
d l 2006
• VehicleDynamics Dynamics of vehicle chassis (obsolete), 2003
• SPICElib Some capabilities of electric circuit simulator PSPICE, 2003
• SystemDynamics System dynamics modeling a la J. Forrester, 2007
• BondLib Bond graph modeling of physical systems, 2007
• MultiBondLib Multi bond graph modeling of physical systems, 2007
• ModelicaDEVS DEVS discrete event modeling, 2006
• ExtendedPetriNets Petri net modeling
modeling, 2002
• External.Media Library External fluid property computation, 2008
• VirtualLabBuilder Implementation of virtual labs, 2007
• SPOT Power systems in transient and steady-state mode, 2007
• ...

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 Power System Stability - SPOT

The SPOT package is a Modelica Library for Power Systems

Voltage and Transient stability simulations

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Thermo-hydraulics Library – ThermoFluid

Thermo-
Replaced by the New Fluid/Media Library

ThermoFluid is a Modelica base library for thermo-hydraulic

models
• IIncludes
l d models
d l th
thatt d
describe
ib th
the b
basic
i physics
h i off flflows off flfluid
id and
d
heat, medium property models for water, gases and some
refrigerants, and also simple components for system modeling.

• Handles static and dynamic momentum balances

• Robust against backwards and

zero flow

• The discretization method is

a first-order, finite volume
method (staggered grid).

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Vehicle Dynamics Library – VehicleDynamics
There is a Greatly Extended Commercial Version

This library is used to model vehicle chassis

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Some Commercial Libraries

• Powertrain
• SmartElectricDrives
• VehicleDynamics
• AirConditioning
• HyLib
• PneuLib
• CombiPlant
• HydroPlant
• …

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 Hydraulics Library HyLib
• Licensed Modelica package developed
originally by Peter Beater
• More than 90 models for Pumps

• Pumps

• Motors and cylinders

• Restrictions and valves
• Hydraulic lines Cylinders
• Lumped volumes and sensors
• Models can be connected in an
arbitrary way, e.g. in series or in parallel.
•HyLibLight is a free subset of Valves
HyLib
• More info: www.hylib.com
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HyLib - Example

Hydraulic drive system with closed circuit

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 Pneumatics Library PneuLib
•Licensed Modelica package
developed by Peter Beater
Directional valves
•More than 80 models for
• Cylinders

• Motors
• Valves and nozzles
Flow control valves
• Lumped volumes
• Lines and sensors
• Models can be connected in an arbitrary
way, e.g. in series or in parallel.
•PneuLibLight is a free subset of Cylinders
HyLib.
• More info: www.pneulib.com

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PneuLib - Example

Pneumatic circuit with multi-position cylinder, booster and

different valves

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 Powertrain Library - Powertrain

• Licensed Modelica package

developed by DLR
• Speed and torque dependent
friction
• Bus concept
• Control units
• Animation

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Some Modelica Applications

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 Example Fighter Aircraft Library

Custom made library, Aircraft*, for fighter aircraft

applications

• Six degrees of freedom (6 DOF)

• Dynamic calculation of center of
gravity (CoG)
• Use of Aerodynamic tables or
mechanical rudders

*Property of FOI (The Swedish

Defence Institute)

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Aircraft with Controller

• Simple PID
• Controls alpha and height

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 Example Aircraft Animation

Animation of fighter aircraft with controller

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Example Gas Turbine

42 MW gas turbine (GTX 100) from Siemens Industrial

Turbomachinery AB, Finspång, Sweden
Fuel

Compressed air Combustion Exhaust gas

chamber

Power output

Air Exhaust
C
Compressor T bi
Turbine

Courtesy Siemens Industrial Turbines AB

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 Example Gas Turbine

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Example Gas Turbine – Load Rejection

Rotational speed (rpm) of the compressor shaft

Load rejection

Generator Switch pilot

to main fuel

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 Example Gas Turbine – Load Rejection

Percentage of fuel valve opening Generated power to the simulated

(red = pilot, blue = main) electrical grid

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