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Automatic Implementation and Analysis for Fixed-point Controllers in Modelica using Dymola

Nordström, Ulf (2012) In ISSN 0280-5316
Department of Automatic Control
Abstract
In model-based development, floating-point arithmetic is typically used for computations in algorithms and models. However, on many target platforms, there is no support for floating-point computations due to constraints on, e.g., price, size, power consumption, and execution speed. A solution is to use fixed-point arithmetic instead. Manually transforming floating-point code to fixedpoint code is an error-prone and time-consuming task. Therefore, this thesis has explored the possibility to automatically generate fixed-point code for the controller part of a Modelica system model using Dymola. To support this scenario, Modelica was extended with new experimental annotations and Dymola was extended with additional functionality for analysis... (More)
In model-based development, floating-point arithmetic is typically used for computations in algorithms and models. However, on many target platforms, there is no support for floating-point computations due to constraints on, e.g., price, size, power consumption, and execution speed. A solution is to use fixed-point arithmetic instead. Manually transforming floating-point code to fixedpoint code is an error-prone and time-consuming task. Therefore, this thesis has explored the possibility to automatically generate fixed-point code for the controller part of a Modelica system model using Dymola. To support this scenario, Modelica was extended with new experimental annotations and Dymola was extended with additional functionality for analysis and code generation. A complete Modelica model-toembedded code scenario was evaluated using Lego Mindstorms
(NXT) as target platform and a tool chain was developed to be able to compile and run the generated code. A Modelica library with components corresponding to the NXT sensors and actuators was also developed. The work has, in addition to this thesis, resulted in two conference papers and has been used in teaching a project course (FRT090) at the Department of Automatic Control at Lund University. It was also used in another Master Thesis where the students generated a stabilizing controller for a two wheeled robot capable of carrying a human. (Less)
Please use this url to cite or link to this publication:
author
Nordström, Ulf
supervisor
organization
alternative title
Automatisk implementering och analys av Modelica-baserade fixpunktsregulatorer i Dymola
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
ISSN 0280-5316
other publication id
ISRN LUTFD2/TFRT--5898--SE
language
English
additional info
month=may
id
2629522
date added to LUP
2012-06-04 11:21:03
date last changed
2012-06-04 11:21:03
@misc{2629522,
  abstract     = {In model-based development, floating-point arithmetic is typically used for computations in algorithms and models. However, on many target platforms, there is no support for floating-point computations due to constraints on, e.g., price, size, power consumption, and execution speed. A solution is to use fixed-point arithmetic instead. Manually transforming floating-point code to fixedpoint code is an error-prone and time-consuming task. Therefore, this thesis has explored the possibility to automatically generate fixed-point code for the controller part of a Modelica system model using Dymola. To support this scenario, Modelica was extended with new experimental annotations and Dymola was extended with additional functionality for analysis and code generation. A complete Modelica model-toembedded code scenario was evaluated using Lego Mindstorms
(NXT) as target platform and a tool chain was developed to be able to compile and run the generated code. A Modelica library with components corresponding to the NXT sensors and actuators was also developed. The work has, in addition to this thesis, resulted in two conference papers and has been used in teaching a project course (FRT090) at the Department of Automatic Control at Lund University. It was also used in another Master Thesis where the students generated a stabilizing controller for a two wheeled robot capable of carrying a human.},
  author       = {Nordström, Ulf},
  language     = {eng},
  note         = {Student Paper},
  series       = {ISSN 0280-5316},
  title        = {Automatic Implementation and Analysis for Fixed-point Controllers in Modelica using Dymola},
  year         = {2012},
}