CN114239216A - Modelica-based hot fluid medium simulation real-time method - Google Patents
Modelica-based hot fluid medium simulation real-time method Download PDFInfo
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Abstract
The embodiment of the invention discloses a Modelica-based hot fluid medium simulation real-time method, and relates to a simulation technology. The method comprises the following steps: running a Modelica-based original component model in a simulator environment; if the single-step solving time length of the original component model is longer than the preset machine physical interaction time length, determining a custom medium template corresponding to a target original fluid medium model in all original fluid medium models; calling the custom medium template to generate a new fluid medium model, and generating a new component model according to the new fluid medium model; the calculation amount of any custom function is less than that of the corresponding original function, and/or the number of the custom functions in the custom medium template is less than that of the functions in the corresponding original medium template. The embodiment improves the calculation efficiency of the component model and the thermodynamic system model.
Description
Technical Field
The embodiment of the invention relates to a simulation technology, in particular to a Modelica-based hot fluid medium simulation real-time method.
Background
A large amount of experimental researches are involved in the research and development process of the complex thermal fluid system, and in order to avoid the irreproducibility of the experiment and save the cost, the research and development period can be shortened through a real-time crosslinking means of a digital model and a real object system. For example, a medium model is constructed and simulated using Modelica. Because the thermal fluid is a slow reaction system, the simulation real-time problem of a complex thermal fluid system is particularly difficult, and the problems of overtime, large-step calculation divergence and the like often exist.
The simulation real-time mode of the traditional heat fluid system model is that on the basis of a Modelica model, the number of system components is reduced on the premise of keeping an original medium model, so that the number of calculation equations is reduced to improve the calculation efficiency. However, the thermal fluid system mostly appears in a pipe network form, and the composition forms of the thermal fluid system are different, for example, the thermal fluid system is processed in a form of reducing parts, so that the numerical precision of a system model is inevitably lost, and the guidance value of the model to the practical application is difficult to play.
Disclosure of Invention
The embodiment of the invention provides a Modelica-based hot fluid medium simulation real-time method, which aims to improve the internal calculation efficiency of a component model and enable the whole system model to meet the timeliness requirement on the premise of not reducing any components.
In a first aspect, an embodiment of the present invention provides a Modelica-based thermal fluid medium simulation real-time method, including:
running an original component model based on Modelica in a simulator environment, wherein the original component model comprises at least one original fluid medium model, each original fluid medium model is built by adopting a corresponding original medium template, and each original medium template comprises information of at least one original function;
if the single-step solving time length of the original component model is longer than the preset machine physical interaction time length, determining a custom medium template corresponding to a target original fluid medium model in all original fluid medium models, wherein the custom medium template comprises information of at least one custom function;
calling the custom medium template to generate a new fluid medium model, and generating a new component model according to the new fluid medium model;
the calculation amount of any custom function is less than that of the corresponding original function, and/or the number of the custom functions in the custom medium template is less than that of the functions in the corresponding original medium template.
In a second aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a memory for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the Modelica-based thermal fluid medium simulation instantaneization method of any embodiment.
In a third aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the program, when executed by a processor, implements the Modelica-based thermal fluid medium simulation real-time method according to any one of the embodiments.
According to the embodiment of the invention, when the original component model based on Modelica does not meet the timeliness requirement, the custom medium template is called to replace the original medium template, and the calculated amount of the fluid medium model is reduced by reducing the calculated amount and/or the number of any function in the medium template, so that the calculation of a new component model meets the timeliness requirement, and the calculation efficiency of the whole system model is improved on the premise of not reducing any component model.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a Modelica-based thermal fluid medium simulation real-time method provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The embodiment of the invention provides a Modelica-based thermal fluid medium simulation real-time method, which is suitable for the situation of carrying out thermal system real-time simulation in a Modelica simulation environment and is executed by electronic equipment. The flowchart of the method is shown in fig. 1, and the method provided by this embodiment specifically includes:
and S110, running the original component model based on the Modelica in the environment of the simulator.
Modelica's simulation software is used for realizing the simulation of thermodynamic system, and the simulation software carries the part model that is used for realizing the simulation of thermodynamic system part in oneself, and this part model is called original part model in this embodiment. In the step, the original component model is operated in the environment of the simulator, so that the single-step solving time length of the original component model is measured and calculated. The single-step solving time length refers to the time required by a simulation model to calculate convergence in a single time step, and the simulation model needs to be deployed in a simulator environment for testing.
Specifically, the original component model comprises at least one original fluid medium model, each original fluid medium model is built by using a corresponding original medium template, and each original medium template comprises information of at least one original function.
It should be noted that the original functions in the original media template are all empty functions, and only the variable declaration of the function has no specific variable value, so that the original media template cannot run. If specific variable values are substituted into the original media template, the original fluid media model is constructed.
The original fluid medium model is used to implement a simulation of a particular hot fluid medium when operating. One for each hot fluid medium model. Since the thermodynamic system component includes at least one thermal fluid medium, the raw component model includes at least one raw fluid medium model.
S120, if the single-step solving time length of the original component model is longer than the preset machine physical interaction time length, determining custom medium templates corresponding to the target original fluid medium model in all the original fluid medium models, wherein each custom medium template comprises information of at least one custom function.
The machine physical interaction duration refers to the duration of a simulation model for externally interacting simulation data through electronic equipment deployed in a simulation machine environment, and can be preset in the simulation machine environment according to actual simulation requirements.
In the step, whether the original component model meets the timeliness requirement is judged by comparing the preset machine physical interaction time with the single-step solving time measured by operating the original component model. And if the single-step solving time length of the original component model is longer than the preset machine physical interaction time length, the original component model is considered not to complete convergence calculation within the set external interaction time, and timeout is caused. At this time, firstly, screening out an original fluid medium model (called a target original fluid medium model) causing timeout from all original fluid medium models included in the original component model; and then determining a custom medium template corresponding to the target original fluid medium model.
The custom medium template is used for replacing the original medium template to construct a new fluid medium model so as to shorten the single-step solving time of the component model and enable the new component model to meet the timeliness requirement. The custom media template is similar to the original media template in construction form and includes information of at least one custom function.
Optionally, if the single-step solution duration of the original component model is longer than the preset machine physical interaction duration, determining a custom medium template corresponding to the target original fluid medium model in all the original fluid medium models, including: if the single-step solving time length of the original component model is longer than the preset machine physical interaction time length, analyzing a simulation result to determine abnormal data; and positioning a target original function according to the abnormal data, and determining a target original fluid medium model according to the target original function.
And positioning of the target original fluid medium model can be realized by analyzing abnormal data in the simulation result. Specifically, each kind of data in the simulation result corresponds to an original function, the original function corresponding to the abnormal data is a target original function, and the fluid medium model including the target original function is a target fluid medium model.
Optionally, the exception data comprises: data with divergent variation trend, data which do not meet the physical law, or data which directly report errors in simulation software; the determining abnormal data by analyzing the simulation result includes: if the variation trend of data in the simulation result is dispersed or does not meet the physical rule, determining the data as abnormal data; and/or determining data as abnormal data if a simulation result reports an error to the data.
And S130, calling the custom medium template to generate a new fluid medium model, and generating a new component model according to the new fluid medium model.
In order to ensure that the single-step solving time length of the new component model is smaller than that of the original component model, the called custom template meets at least one of the following conditions: (1) the calculation amount of any self-defined function is less than that of the corresponding original function; (2) the number of the custom functions in the custom media template is less than the number of the functions in the corresponding original media template.
Optionally, each of the custom media templates includes a declaration variable of at least one custom function; the calling of the corresponding custom media template to generate a new fluid media model comprises the following steps: calling a corresponding self-defined medium template; and calling the corresponding entity function according to the statement variable in the custom medium template to generate a new fluid medium model.
Similar to the original media template, the custom functions in the custom media template are all null functions, and only the variable declaration of the function is provided, and no specific variable value is provided. When the custom medium template is called, the corresponding entity function is called according to the statement variable in the custom medium template, and the specific variable value is substituted into the entity function, so that a new fluid medium model is generated. The new fluid medium model is run to achieve simulation of the specific medium according to the new calculation method.
The technical effect of the embodiment is as follows: in the embodiment, the custom medium template is called to replace the original medium template when the original component model does not meet the timeliness requirement, and the calculated amount of the fluid medium model is reduced by reducing the calculated amount and/or the number of functions of any function in the medium template, so that the calculation of a new component model meets the timeliness requirement, and the calculation efficiency of the whole system model is improved on the premise of not reducing any component model.
On the basis of the above and following embodiments, optionally, after the generating a new component model according to the new fluid medium model, the method further includes:
s210, running the new component model in a simulator environment;
s220, if the single-step solving time length of the new component model is less than or equal to the preset machine physical interaction time length, meeting the real-time requirement; if the single-step solving time length of the new component model is longer than the preset machine physical interaction time length, determining a new user-defined medium template corresponding to a target fluid medium model in all new fluid medium models; the new custom media template comprises information of at least one new custom function;
and S230, calling the corresponding new custom medium template to generate a new fluid medium model, and generating a new component model according to the new fluid medium model.
The calculation amount of any new user-defined function is less than that of the corresponding user-defined function, and/or the number of the new user-defined functions in any new user-defined medium template is less than that of the user-defined functions in the corresponding user-defined medium template.
The component model update of the present embodiment is a continuously iterative process. If the single-step solving time length of the new model can meet the real-time requirement after one-time updating, the updating is finished; and if the single-step solving time length of the new model still cannot meet the real-time requirement, continuing updating by adopting the same method.
Specifically, in each update, all fluid medium models (which may be updated, may not be updated, and may be updated multiple times) included in the component model obtained by the last update are taken as new fluid medium models, new target fluid medium models are screened from all the new fluid medium models, and new custom medium templates (which may be updated, may not be updated, and may be updated multiple times) corresponding to the new target fluid medium models are determined; and calling the new self-defined medium template to generate a new fluid medium model, and generating the updated part model according to the new fluid medium model.
On the basis of the above and following embodiments, the present embodiment refines the process of building a custom media template. Optionally, before running the Modelica-based original component model in the environment of the simulator, the method further includes: constructing a custom function so that the difference between the physical property data calculated by the custom function and the actual physical property data meets the precision requirement; and constructing a custom medium template according to the custom function.
The custom medium template comprises at least one custom function, so that the custom functions are firstly constructed when the custom medium template is constructed, and each custom function is used for calculating one physical property data of the corresponding medium. And after the custom function is constructed, the precision of the custom function is checked to maintain the simulation precision of the original system model. In this embodiment, the actual physical property data is used as a check standard, and the difference between the physical property data calculated by the custom function and the actual physical property data is compared. And if the difference value is within the allowable range of the precision deviation, the constructed custom function meets the precision requirement. And calling a custom function meeting the precision requirement and constructing a custom medium template.
Optionally, the building a custom function includes: constructing a physical property parameter solving function by adopting a polynomial fitting method; or constructing a physical property parameter solving function by adopting a table interpolation method. The custom function is constructed in many ways, and the embodiment adopts a polynomial fitting method and a table interpolation method to construct the custom function.
Specifically, taking the viscosity parameter solving function of the medium as an example, the following two construction methods are adopted:
the first method is as follows: and (3) converting the following polynomial equation into a Modelica function by adopting a polynomial fitting method:
where Y represents a viscosity parameter, T represents temperature, A, B, C and D represent fitting coefficients, and a set constant may be taken. The method supports the user-defined expansion of the polynomial, and the obtained user-defined function has stronger expandability.
The second method comprises the following steps: a table interpolation method is adopted, viscosity parameters corresponding to a fluid medium under a plurality of variable values of a certain variable are input into an interpolation table of Modelica, and viscosity parameters corresponding to other variable values of the variable are calculated through the interpolation method. For example, the following table is input to the interpolation table of modeica, and interpolation calculation of the viscosity coefficient of hydrogen gas at all temperatures can be performed.
TABLE 1 viscosity coefficients of hydrogen at various temperatures
Compared with the original function, the function constructed by adopting the two methods has fewer calculation equations, the construction method is simpler, the fluid medium model is simplified on the premise of ensuring the calculation accuracy, and the calculation efficiency is improved.
Optionally, the building a custom function includes: and (4) preserving the core equation in the original function, and simplifying the equation for enhancing the performance of the result.
The original function comprises a core equation and an equation for enhancing the performance of the result, wherein the equation for enhancing the performance of the result comprises: solution-assisted equations, robustness equations (e.g., maximizing, minimizing, smoothing the results, etc. to enhance robustness), and experimental parametric equations. Therefore, the calculation amount of the original function is large, and partial data acquisition is difficult, for example, partial experimental parameters are acquired by the united states space agency experiment.
The embodiment retains the core equation in the original function, and only simplifies the equation for enhancing the performance of the result, so that the calculation amount of the function can be reduced. For example, the tentative parametric equations are removed; or removing an equation with smaller influence on the parameters to be solved; or if the better model performance is obtained in one calculation, the variable values of certain equations in the calculation are recorded, and the recorded variable values are directly substituted into the equations in subsequent calculations.
On the basis of the foregoing and the following embodiments, optionally, the constructing a custom media template according to the custom function includes: determining the type of an original fluid medium model in an original component model to be simulated; taking the type of the original fluid medium model as the type of a custom medium template required to be constructed; and selecting the required custom function according to the type of the custom medium template required to be constructed, and constructing the custom medium template of the corresponding type according to the selected custom function.
In Modelica simulation software, the type of an original medium template corresponds to the type of a fluid medium, and the same type of medium corresponds to the same original medium template. The types of fluid media include: single phase fluid media, two phase fluid media, mixture fluid media, and the like, and accordingly, the types of custom media templates include: pure substance medium template, phase change medium template and mixture medium template. The type of the custom medium template is the same as that of the original medium template, and after a custom medium template is built, the custom medium template can be called in a new fluid medium model which belongs to the same fluid medium type as the custom medium template. Therefore, in the embodiment, the user-defined medium template and the user-defined function are constructed according to the type of the medium template, so that the universality of the user-defined medium template can be improved, and the construction difficulty can be reduced.
Specifically, when a custom media template is constructed, the type of the custom media template is first determined. The type of the original fluid medium model is the type of the custom medium template required to be constructed. Then, a desired custom function is selected according to the determined type. The physical property parameters required to be calculated for the same type of fluid medium are the same, and the required custom function can be selected according to the physical property parameters required to be calculated. And finally, constructing the type of the custom medium template according to the selected custom function.
Fig. 2 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, as shown in fig. 2, the electronic device includes a processor 20, a memory 21, an input device 22, and an output device 23; the number of processors 20 in the device may be one or more, and one processor 20 is taken as an example in fig. 2; the processor 20, the memory 21, the input means 22 and the output means 23 in the device may be connected by a bus or other means, as exemplified by the bus connection in fig. 2.
The memory 21, which is a computer readable storage medium, may be used to store software programs, computer executable programs, and modules, such as program instructions/modules corresponding to the Modelica-based thermal fluid medium simulation instantaneization method in an embodiment of the present invention. The processor 20 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 21, so as to realize the Modelica-based thermal fluid medium simulation real-time method.
The memory 21 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 21 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 21 may further include memory located remotely from processor 20, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 22 may be used to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the apparatus. The output device 23 may include a display device such as a display screen.
Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the Modelica-based thermal fluid medium simulation real-time method of any of the embodiments.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.
Claims (10)
1. A Modelica-based hot fluid medium simulation real-time method is characterized by comprising the following steps:
running an original component model based on Modelica in a simulator environment, wherein the original component model comprises at least one original fluid medium model, each original fluid medium model is built by adopting a corresponding original medium template, and each original medium template comprises information of at least one original function;
if the single-step solving time length of the original component model is longer than the preset machine physical interaction time length, determining a custom medium template corresponding to a target original fluid medium model in all original fluid medium models, wherein the custom medium template comprises information of at least one custom function;
calling the custom medium template to generate a new fluid medium model, and generating a new component model according to the new fluid medium model;
the calculation amount of any custom function is less than that of the corresponding original function, and/or the number of the custom functions in the custom medium template is less than that of the functions in the corresponding original medium template.
2. The method of claim 1, wherein prior to running the Modelica-based raw part model in the simulator environment, further comprising:
constructing a custom function so that the difference between the physical property data calculated by the custom function and the actual physical property data meets the precision requirement;
and constructing a custom medium template according to the custom function.
3. The method of claim 2, wherein constructing the custom function comprises:
constructing a physical property parameter solving function by adopting a polynomial fitting method; alternatively, the first and second electrodes may be,
and constructing a physical property parameter solving function by adopting a table interpolation method.
4. The method of claim 2, wherein said building a custom media template according to the custom function comprises:
determining the type of an original fluid medium model in an original component model to be simulated;
taking the type of the original fluid medium model as the type of a custom medium template required to be constructed;
and selecting the required custom function according to the type of the custom medium template required to be constructed, and constructing the custom medium template of the corresponding type according to the selected custom function.
5. The method of claim 2, wherein constructing the custom function comprises:
and (4) preserving the core equation in the original function, and simplifying the equation for enhancing the performance of the result.
6. The method of any one of claims 1-5, wherein determining the custom media template corresponding to the target original fluid media model of all original fluid media models if the single-step solution duration of the original component model is greater than a preset machine physical interaction duration comprises:
if the single-step solving time length of the original component model is longer than the preset machine physical interaction time length, analyzing a simulation result to determine abnormal data;
and positioning a target original function according to the abnormal data, and determining a target original fluid medium model according to the target original function.
7. The method of claim 6, wherein determining abnormal data by analyzing simulation results comprises:
if the variation trend of data in the simulation result is dispersed or does not meet the physical rule, determining the data as abnormal data; and/or the presence of a gas in the gas,
and if the simulation result reports an error to a datum, determining the datum as abnormal datum.
8. The method of claim 1, further comprising, after said generating a new component model from said new fluid medium model:
running the new component model in a simulator environment;
if the single-step solving time length of the new component model is less than or equal to the preset machine physical interaction time length, the real-time requirement is met;
if the single-step solving time length of the new component model is longer than the preset machine physical interaction time length, determining a new self-defined medium template corresponding to a new target fluid medium model in all new fluid medium models; the new custom media template comprises information of at least one new custom function;
calling the new self-defined medium template to generate a new fluid medium model, and generating a new component model according to the new fluid medium model;
and the calculation amount of any new custom function is less than that of the corresponding custom function, and/or the number of the new custom functions in the new custom medium template is less than that of the custom functions in the corresponding custom medium template.
9. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the Modelica-based thermal fluid medium simulation instantaneization method of any of claims 1-8.
10. A computer readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements a Modelica-based thermal fluid medium simulation instantaneization method as claimed in any one of claims 1 to 8.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115034093A (en) * | 2022-08-10 | 2022-09-09 | 中国汽车技术研究中心有限公司 | Motor simulation model construction method with heat network and simulation method |
| CN115408802A (en) * | 2022-11-01 | 2022-11-29 | 中国汽车技术研究中心有限公司 | Fault tree construction method based on Modelica simulation model |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115034093A (en) * | 2022-08-10 | 2022-09-09 | 中国汽车技术研究中心有限公司 | Motor simulation model construction method with heat network and simulation method |
| CN115408802A (en) * | 2022-11-01 | 2022-11-29 | 中国汽车技术研究中心有限公司 | Fault tree construction method based on Modelica simulation model |
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