Using FMI (Functional Mock-up Interface) 2.0 or FMI 1.0 for mechatronic simulation

Using FMI (Functional Mock-up

Interface) 2.0 or FMI 1.0 for

mechatronic simulation

Realize innovation.Unrestricted © Siemens AG 2017

LMS Imagine.Lab Amesim™

A world leading platform for physical

simulation of mechatronic systems

Unrestricted © Siemens AG 2017

2017.01.13Page 2 Siemens PLM Software

.

Overview of FMI in LMS Amesim

History of FMI specifications

Table of content

The FMI 2.0 specification

Consequences of using FMI 2.0 vs. FMI 1.0

Improved quality of FMUs

The advantage of FMI

Going further



Simcenter™ Portfolio for Predictive Engineering Analytics

LMS Imagine.Lab

LMS Imagine.Lab Amesim

Openness &

Scalability

Collaboration &

workflowCo-Simulation



FMI / FMU in a nutshell

What is FMI?

• A tool-neutral standard to support

both model exchange and

co-simulation of dynamic models

92 tools officially support FMI today, they belong to 8 categories:

0D-1D system simulation | Systems engineering | Multibody simulator | Controls and scientific computation tools | HiL

Hardware and Real-time targets | ECU software development tools | Co-simulation middleware | Integration platforms

https://www.fmi-standard.org/tools

What is FMU?

• A ZIP file used to package the model,

its resources and documentation

• An XML that describes the model

structure and capabilities



FMI Use Cases and Motivations

Use Cases to address:

• Collaborative MBSE:

• Between OEMs and suppliers

• Between departments of the same company

• Involving different domains and complexity levels

The solution is:

• Tool neutral software interface

• Open format, with publicly available specifications: https://www.fmi-standard.org/downloads

Many existing and future interfacing possibilities

Numerous suppliers…

1 OEM (system integrator)

1D, 3D FEA/MBS, CFD, Controls, RSM, Real-Time…



Summary: 4 ways of coupling LMS Amesim with other FMI compliant tools

Selecting an FMI importing tool

• Depends on preferred

environment for result analysis

• Depends on each tool’s FMI

capabilities (import / export,

co-simulation vs. model

exchange)

Choosing between Model

Exchange or Co-Simulation

• Performance / robustness

compromise

• Tool capabilities

To LMS Amesim (Import) From LMS Amesim (Export)

Mo

del

Exch

an

ge

Co

-Sim

ula

tio

n



Summary of current FMI features (LMS Amesim 15.x)

New FMI modes and usability enhancements

• FMI 2.0 for Co-simulation Slave

• FMI 1.0 for Model Exchange Export for

Modelica and native LMS Amesim models

• FMU Export Assistant

• Multiple binaries in the same FMU

• Automatic table embedding in FMUs

FMI for Real-time

• FMI based export workflow

for following RT targets:

• dSPACE SCALEXIO

• ETAS LABCAR (32-bit)

• Concurrent SimWB

(32- and 64-bit)

or

or

or

LMS Amesim 15 FMI compatibility status (June 2016)

Extended New



Roadmap of forthcoming FMI features (LMS Amesim 16)

New FMI modes and usability enhancements

• FMI 2.0 for Model Exchange Import

• FMI 2.0 for Model Exchange Export

• Possibility to generate 2.0 FMUs having

both the co-simulation and model

exchange interfaces (to be confirmed)

• Other FMI usability improvements

FMI for Real-time

or

Expected LMS Amesim 16 status: all FMI 1.0 & 2.0 modes

• Support of other RT targets

based on FMI (if available)

or

or

or

Expected



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Table of content





Going further



Timeline of FMI specification releases and context

• FMI 1.0 Specifications designed by the Modelisar consortium, in which LMS—now Siemens

PLM Software—took part; The ITEA2 Modelisar project ended December 2011

• FMI 2.0 designed by the FMI MAP (Modelica Association Project); Siemens PLM Software

is a member of this MAP

• FMI 2.0 Beta 4 Specification document released in August 10th, 2012

• Final FMI 2.0 Specification document initially planned for the end of 2012 but postponed.

Finally released in July 2014.

• Specification documents are publicly available from

http://www.fmi-standard.org

2010 2011 2012 2013

FMI version 1.0 FMI version 2.0

2014

FMI version 2.0 Beta 4

?



FMI 1.0 specifications as outcome of the MODELISAR European research

project

https://itea3.org/project/modelisar.html

Siemens PLM Software (LMS) active since Day 1

https://itea3.org/project/modelisar.html



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Table of content





Going further



The FMI 1.0 & FMI 2.0 specifications

FMI 2.0: the most recent

specification

• Several optional capabilities introduced

• A unified document for both Model

Exchange and Co-Simulation

• FMI 2.0 officially supported by 50 tools

• Most of FMI 2.0 tools also support

FMI 1.0; this might change in the future

FMI 1.0: older specifications

• Simpler to implement (fewer options)

• Better known by end-users,

more maturity

• Officially supported by 85 tools

https://www.fmi-standard.org/downloads





• Model Exchange and Co-simulation specifications partially merged

• New variable semantics (including new definitions for variability,

causality, initialization of parameters and variables) and new state

machines

• The specification defines:

• Core concepts that are mandatory (model structure definition, and

synopsis of functions for initializing, getting/setting variables, etc.):

these concepts are functionally equivalent with FMI 1.0

• Optional features that are new with regard to the FMI 1.0

specifications

Main aspects




• Tunable parameters: during simulation, some parameters can

have their value updated from the outside on an externally-

generated event. Often useful for Hardware-in-the-Loop simulations

where connected hardware cannot be restarted easily to change a

parameter value.

• Interface for exposing the directional derivatives with regard to

inputs and state variables. Opens the path to frequency analysis of

co-simulated systems and/or to advanced co-simulation.

• Ability to save and restore the state of model or simulator, in a

serialized form. Useful for operator training systems, for instance.

Notable optional features (capability flags)




• Model structure (including sparsity information) is fully described,

including state variables for the Model Exchange Interface

• Improved unit definitions, with mapping to the SI base units

• User-defined logging categories

• Some ambiguities of the 1.0 specification fixed (especially for

co-simulation): for example, the path to the inflated FMU is now

explicitly given to the FMU at instantiation, thus allowing it to

access resource files

• Explicit flag for aliased variables removed

• Different namespaces for dynamic object and static objects

Other minor changes



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Table of content





Going further



Consequences of the new FMI 2.0 specification

• Not backward-compatible with 1.0: a 1.0 FMU cannot be loaded by a pure FMI 2.0

environment

• The 1.0 and 2.0 versions are to be considered as two different branches of the

specification rather than an evolution stricto sensu

• The core 2.0 specification (without optional features) allows to generate FMUs that are

functionally equivalent to 1.0 FMUs (model exchange or co-simulation), but not

compatible

• An FMU may expose both a Model Exchange and a Co-simulation interface

• New class of applications allowed, like model-based predictive control

• Frequency analysis is allowed in addition to transient analysis, this can be useful for control

system design for example, or co-simulation numerical stability analysis

• Enhanced implicit/iterative co-simulation methods are allowed through the simulator

save/restore functionality, provided that the importing environment is able to implement

these methods



Current tools supporting FMI 2.0 or FMI 1.0

https://www.fmi-standard.org/tools 70% more tools officially supporting FMI 1.0

(85 tools), compared to FMI 2.0 (50 tools)

• FMI aims at building bridges between various technologies and tools, which goes far beyond the

world of the Modelica language.

• Today, Modelica compatible tools (including LMS Amesim) represent less than 10% of all listed FMI

supporting tools, which already illustrates the large success of FMI.




FMI 2.0 vs. FMI 1.0 – Take away messages

• Core concepts of FMI 2.0 are functionally equivalent to those of FMI 1.0

• No backward compatibility

• Some FMUs contain both the Model Exchange and the Co-Simulation modes,

which is very interesting for users: the most suitable mode can be selected at import

• 85 tools support FMI 1.0 (at least one coupling mode among the 4 possible modes)

• 50 tools support FMI 2.0. Most of them also support FMI 1.0.

• Most 2.0 FMUs behave the same way as 1.0 FMUs (from a user’s point of view)

• Most of the time, benefiting from a specific FMI 2.0 optional capability requires all the

involved tools to support it (“tunable parameters” is a noticeable exception)

Memo for selecting the most appropriate FMI version for each use case:

• What are the interfacing possibilities (tool combinations) available?

• What is my preference between novelty (FMI 2.0) and maturity (FMI 1.0)?

• Are there any FMI 2.0 optional capabilities I need and for which purpose?

• Do all my tools support the optional capabilities I am interested in?



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Table of content





Going further



In 2012, FMU Compliance Checker is introduced…


In 2012, the Modelica Association introduced

the FMU Compliance Checker to improve

the robustness of the FMUs

• FMU passes the Checker ⇒ FMU likely OK (to be confirmed)

• FMU doesn’t pass the Checker ⇒ FMU certainly not OK!

• Quality of FMUs has improved

• All kinds of issues still not detected: cross-

tests between tools are needed




In July 2014, stricter rules for FMI cross checks are defined…

• Tighter Cross Check rules to assess FMI compatibility between tools

• Latest Cross Check rules tightened for more reliability

• Easier exchanges of FMUs between tool vendors for testing (e.g. licenses can be removed)

• Sandbox for tests with development versions (FMI should work out of the box when tools are released)

• Orange cell = tool vendor claims to support this FMI mode

• Green cell = tool vendor claims to support this FMI mode & passed the tests


• Better communication of each tool vendor

on the FMI compatibility level they offer

• Cross-tests on more complex FMUs and/or

real-world use cases often still needed and

encouraged




Stricter rules for FMI cross checks (extracts)

https://svn.fmi-standard.org/fmi/branches/public/CrossCheck_Results/FMI_Cross_Check_Rules_v3.1_2015_07.pdf



Stricter rules for FMI cross checks (extracts)

https://svn.fmi-standard.org/fmi/branches/public/CrossCheck_Results/FMI_Cross_Check_Rules_v3.1_2015_07.pdf

Stricter rules defined in July

2014. Only the tools proven

to comply with these rules

get a green cell



New FMI development process with clear guiding principles

https://svn.fmi-standard.org/fmi/branches/public/docs/DevProcess/FMI_DevelopmentProcess_1.0.pdf

FMI Development Process (extract, April 2015)

Guiding principles for

balancing between innovation

and the stability one can expect

from an industrial standard

As a prominent FMI driver and Steering Committee member, Siemens PLM Software

contributed to this improved development process. Its reinforced guiding principles

and consistent compatibility rules are aimed at boosting the adoption of FMI.



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Table of content





Going further



The FMI advantage

All connected through FMI

LMS Amesim



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Table of content





Going further



FMI examples and dedicated manual in the LMS Amesim online

documentation

LMS Imagine.Lab Amesim 15 online documentation

with ready-to-use examples & dedicated user manual to start with:

• Co-simulation & Model Exchange

• FMU Export and FMU Import

• Offline use and running FMUs on Real-Time targets



LMS Amesim enables you to tailor your platform to your specific needs with the App

designer, Plots Python API, application-specific tools for pre-processing and post-

processing as well as customized parameter editing using external executables.

Use advanced LMS Amesim scripting tools for model interaction automation and LMS

Amesim APIs for full command-line building of complete models.

LMS Amesim helps improve your system design with LMS Amesim Design Exploration,

LMS Amesim Export module or the LMS Amesim-Optimus interface.

LMS Amesim enables you to analyze your data and system results with advanced

plotting facilities, dashboard, animation, table editor, linear analysis, activity index and

replay.

LMS Imagine.Lab Amesim comes with unique usability and scalability capabilities with

all the LMS Amesim graphical user interfaces (GUI), interactive help and associated

features such as the supercomponent facility, batch run monitor, experiment manager,

postprocessed variables and Statechart designer.

More about the LMS Imagine.Lab Amesim platform

Platform

facilities

Analysis

tools

Optimization, robustness, design of

experiments

Simulator scripting

Customization



LMS Imagine.Lab Amesim supports Modelica, the open standard language for

describing physical systems. The Modelica platform provides the tools you need to

build acausal, multidomain Modelica models and leverage the LMS Amesim platform

features to analyze the resulting system.

LMS Amesim can be coupled with external software applications such as CAE, CAD,

CAM, FEA/FEM and computational fluid dynamics (CFD). Co-simulation provides

coupling between LMS Amesim and CAE tools with predefined setups to ensure good

dialog between the tools and simulation software.

LMS Amesim provides co-simulation capabilities with any software coupled with LMS

Amesim due to the generic co-simulation capability and functional mock-up interface

(FMI), to complete heterogeneous simulations within an unique integration platform.

The LMS Amesim unique integrated platform provides realistic plant models for every

stage of the development cycle, enabling system and control engineers to start

evaluation and validation phases early in the design cycle using model-in-the-loop

(MiL), software-in-the-loop (SiL) and hardware-in-the-loop (HiL) frameworks.

LMS Amesim integrates cutting-edge numerical methods, performance analyzer,

discrete partitioning library for CPU speed-up, a parallel processing feature for

multiprocessor task distribution as well as High Performance Computing (HPC).

More about the LMS Imagine.Lab Amesim platform

Solvers

and numerics

MIL/SIL/HIL

and real-time

Software

interfaces

1D/3D

CAE

Modelica

platform



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Bruno LOYER, Bruno LACABANNE, Antoine VIEL, Stéphane NEYRATLMS Imagine.Lab Amesim Platform

Siemens Industry Software S.A.SDigital Factory DivisionProduct Lifecycle ManagementSimulation & Test Solutions

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Using FMI (Functional Mock-up Interface) 2.0 or FMI 1.0 for mechatronic simulation

Technology