Advanced Controller Development Based on eFMI with Applications to Automotive Vertical Dynamics Control

High-level modeling languages facilitate system modeling and the development of control systems. This is mainly achieved by the automated handling of differential algebraic equations which describe the dynamics of the modeled systems across different physical domains. A wide selection of model libra...

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Autores principales:	Johannes Ultsch, Julian Ruggaber, Andreas Pfeiffer, Christina Schreppel, Jakub Tobolář, Jonathan Brembeck, Daniel Baumgartner
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	eFMI vertical dynamics control nonlinear Kalman filter embedded software code generation Modelica Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841
Acceso en línea:	https://doaj.org/article/90888545830e4b5886d9634478469a66
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id	oai:doaj.org-article:90888545830e4b5886d9634478469a66
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spelling	oai:doaj.org-article:90888545830e4b5886d9634478469a662021-11-25T15:56:58ZAdvanced Controller Development Based on eFMI with Applications to Automotive Vertical Dynamics Control10.3390/act101103012076-0825https://doaj.org/article/90888545830e4b5886d9634478469a662021-11-01T00:00:00Zhttps://www.mdpi.com/2076-0825/10/11/301https://doaj.org/toc/2076-0825High-level modeling languages facilitate system modeling and the development of control systems. This is mainly achieved by the automated handling of differential algebraic equations which describe the dynamics of the modeled systems across different physical domains. A wide selection of model libraries provides additional support to the modeling process. Nevertheless, deployment on embedded targets poses a challenge and usually requires manual modification and reimplementation of the control system. The novel proposed eFMI Standard (Functional Mock-up Interface for embedded systems) introduces a workflow and an automated toolchain to simplify the deployment of model-based control systems on embedded targets. This contribution describes the application and verification of the eFMI workflow using a vertical dynamics control problem with an automotive application as an example. The workflow is exemplified by a control system design process which is supported by the a-causal, multi-physical, high-level modeling language Modelica. In this process, the eFMI toolchain is applied to a model-based controller for semi-active dampers and demonstrated using an eFMI-based nonlinear prediction model within a nonlinear Kalman filter. The generated code was successfully tested in different validation steps on the dedicated embedded system. Additionally, tests with a low-volume production electronic control unit (ECU) in a series-produced car demonstrated the correct execution of the controller code under real-world conditions. The novelty of our approach is that it automatically derives an embedded software solution from a high-level multi-physical model with standardized eFMI methodology and tooling. We present one of the first full application scenarios (covering all aspects ranging from multi-physical modeling up to embedded target deployment) of the new eFMI tooling.Johannes UltschJulian RuggaberAndreas PfeifferChristina SchreppelJakub TobolářJonathan BrembeckDaniel BaumgartnerMDPI AGarticleeFMIvertical dynamics controlnonlinear Kalman filterembedded softwarecode generationModelicaMaterials of engineering and construction. Mechanics of materialsTA401-492Production of electric energy or power. Powerplants. Central stationsTK1001-1841ENActuators, Vol 10, Iss 301, p 301 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	eFMI vertical dynamics control nonlinear Kalman filter embedded software code generation Modelica Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841
spellingShingle	eFMI vertical dynamics control nonlinear Kalman filter embedded software code generation Modelica Materials of engineering and construction. Mechanics of materials TA401-492 Production of electric energy or power. Powerplants. Central stations TK1001-1841 Johannes Ultsch Julian Ruggaber Andreas Pfeiffer Christina Schreppel Jakub Tobolář Jonathan Brembeck Daniel Baumgartner Advanced Controller Development Based on eFMI with Applications to Automotive Vertical Dynamics Control
description	High-level modeling languages facilitate system modeling and the development of control systems. This is mainly achieved by the automated handling of differential algebraic equations which describe the dynamics of the modeled systems across different physical domains. A wide selection of model libraries provides additional support to the modeling process. Nevertheless, deployment on embedded targets poses a challenge and usually requires manual modification and reimplementation of the control system. The novel proposed eFMI Standard (Functional Mock-up Interface for embedded systems) introduces a workflow and an automated toolchain to simplify the deployment of model-based control systems on embedded targets. This contribution describes the application and verification of the eFMI workflow using a vertical dynamics control problem with an automotive application as an example. The workflow is exemplified by a control system design process which is supported by the a-causal, multi-physical, high-level modeling language Modelica. In this process, the eFMI toolchain is applied to a model-based controller for semi-active dampers and demonstrated using an eFMI-based nonlinear prediction model within a nonlinear Kalman filter. The generated code was successfully tested in different validation steps on the dedicated embedded system. Additionally, tests with a low-volume production electronic control unit (ECU) in a series-produced car demonstrated the correct execution of the controller code under real-world conditions. The novelty of our approach is that it automatically derives an embedded software solution from a high-level multi-physical model with standardized eFMI methodology and tooling. We present one of the first full application scenarios (covering all aspects ranging from multi-physical modeling up to embedded target deployment) of the new eFMI tooling.
format	article
author	Johannes Ultsch Julian Ruggaber Andreas Pfeiffer Christina Schreppel Jakub Tobolář Jonathan Brembeck Daniel Baumgartner
author_facet	Johannes Ultsch Julian Ruggaber Andreas Pfeiffer Christina Schreppel Jakub Tobolář Jonathan Brembeck Daniel Baumgartner
author_sort	Johannes Ultsch
title	Advanced Controller Development Based on eFMI with Applications to Automotive Vertical Dynamics Control
title_short	Advanced Controller Development Based on eFMI with Applications to Automotive Vertical Dynamics Control
title_full	Advanced Controller Development Based on eFMI with Applications to Automotive Vertical Dynamics Control
title_fullStr	Advanced Controller Development Based on eFMI with Applications to Automotive Vertical Dynamics Control
title_full_unstemmed	Advanced Controller Development Based on eFMI with Applications to Automotive Vertical Dynamics Control
title_sort	advanced controller development based on efmi with applications to automotive vertical dynamics control
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/90888545830e4b5886d9634478469a66
work_keys_str_mv	AT johannesultsch advancedcontrollerdevelopmentbasedonefmiwithapplicationstoautomotiveverticaldynamicscontrol AT julianruggaber advancedcontrollerdevelopmentbasedonefmiwithapplicationstoautomotiveverticaldynamicscontrol AT andreaspfeiffer advancedcontrollerdevelopmentbasedonefmiwithapplicationstoautomotiveverticaldynamicscontrol AT christinaschreppel advancedcontrollerdevelopmentbasedonefmiwithapplicationstoautomotiveverticaldynamicscontrol AT jakubtobolar advancedcontrollerdevelopmentbasedonefmiwithapplicationstoautomotiveverticaldynamicscontrol AT jonathanbrembeck advancedcontrollerdevelopmentbasedonefmiwithapplicationstoautomotiveverticaldynamicscontrol AT danielbaumgartner advancedcontrollerdevelopmentbasedonefmiwithapplicationstoautomotiveverticaldynamicscontrol
_version_	1718413392523296768

Advanced Controller Development Based on eFMI with Applications to Automotive Vertical Dynamics Control

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