This document discusses mechatronics and its application with Rational Rhapsody Design Manager. [1] Mechatronics involves the integration of mechanical, electrical, and software engineering, requiring a systems engineering approach. [2] Mechatronic modeling requires mathematical modeling tools that can be integrated into logical behavior models. [3] Rhapsody provides a way to work with mathematical modeling tools like Simulink and Modelica to model both logical and physical behavior.

1. Accelerating Product and Service Innovation
© 2013 IBM Corporation1
Graham Bleakley Ph.D.
Solution Architect A&D and Automotive
IBM Software, Rational
Mechatronics and its application with Rhapsody Design
Manager

2. © 2013 IBM Corporation
Accelerating Product and Service Innovation
Agenda
 What is mechatronics and How does it fit with Continuous
Engineering ?
 The practicalities of Mechatronic Modelling with Rhapsody
 Mathematical modelling tools for SE and Mechatronics
 Use of Simulink and Parametrics Constraint Evaluator
Specification models
Design Models
Use cases
 Modelica
Introduction
Functional Mockup Interface and Unit:-How it works
Use cases
Vision of RDM as FMI simulation backbone
 References

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Accelerating Product and Service InnovationAccelerating Product and Service Innovation
The ‘make up’ of products and systems has changed
More
Time
Consumer
expectations
Complexity
Software
and electronics

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Accelerating Product and Service Innovation
What is Mechatronics ?
 Interdisciplinary approach to engineering that involves the
integration of
 Mechanical
 Electrical
 Software
 Requires a system engineering approach to develop properly
integrated systems
 Also know as:-
 Cyber-Physical Systems (CPS)

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Mechatronics and Modelling
 Emphasis on understanding the physical behaviour of the
systems as well as the logical behaviour
 Requires mathematical modelling tools
 Mathematical modelling tools need to be integrated into the
logical behaviour models
 Physical representations of the systems can and do affect the
performance of the system under design
 Why do you model the physical systems ?
 Verify that you can meet functional and non-functional requirements
 Trade studies (parametric analysis)
 Ensure that the system does what it says It can do
 Continuous Engineering
 Simulation
 Connected Information

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6
Quality managementAnalysis, design and prototypingRequirements management
Workflow, Planning, Task & Change Management
Mechatronics Modelling and Continuous Engineering (Simulation)
Engineering context
Market
Analytics
System
Verification
and Validation
System
Test
System
Requirements
System
Design
Deployment/
Release to Mfg.
Customer
Requirements
Operations and
Maintenance
Implementation
Decomposition
andDefinition
Integration
andValidation
Agile Software
Engineering
Electrical/
Electronics
Design
Mechanical
Design
Iterative
Mechatronics
Modelling

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Accelerating Product and Service Innovation
7
MBSE and Open Information

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Accelerating Product and Service Innovation
8
IBM helps you turn product development into a competitive
advantage
Improve systems
engineering to tackle
growing product
complexity
Improve software
development to deliver
innovation faster
With an open, integrated
systems approach that
enables access to all
engineering and related
information
Engineering context
Open standards
Market
Analytics
System
Verification
and Validation
System
Test
System
Requirements
System
Design
Deployment/
Release to Mfg.
Customer
Requirements
Operations and
Maintenance
Implementation
Decomposition
andDefinition
Integration
andValidation
Agile Software
Engineering
Business Engineering Operational
Enterprise information
Electrical/
Electronics
Design
Mechanical
Design
Iterative

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Accelerating Product and Service Innovation
The practicalities of
Mechatronic Modelling with Rhapsody

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Accelerating Product and Service Innovation
10 HVC 2012Nov.
Developing Mechatronic/CPS (usually) means doing Systems
Engineering
 Commonly used in complex multi-disciplinary systems:
 Requires disciplined requirements analysis (functional and non-
functional analysis, trade-offs, etc.)
 Requires coordination between domain specific engineering teams
(managing engineering artifacts)
 High risk of failure, esp. during integration,
Leads to non-trivial emergent behavior -> simulations!
Source: Sheard, Sara, A.,Systems Engineering Roles Revisited,
Proceedings of the 10th
Annual International Council of Systems
Engineering, 2000

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11 HVC 2012Nov.
Typical Mechatronic or CPS modelling
Source: Edward A. Lee and Sanjit A. Seshia, Introduction to Embedded Systems, A Cyber-Physical Systems Approach, http://LeeSeshia.org, ISBN 978-0-557-70857-4, 2011

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12
 There is no single tool that fits all needs
• Rhapsody is excellent for embedded systems design (statecharts,
activity diagrams, sequence diagrams)
• Modelica tools are intended for physical modeling
• Simulink strength is control design
 Systems Engineers generally choose a single tool that best
meets their needs, making compromises in multi-domain
modeling
• Often organizations dictate the tool
 Change in tool choice means loss of legacy models
 Tool choice often prohibits inter-organizational cooperation
 Rhapsody provides a way to work with a variety of
mathematical modelling tools
Challenges

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Mechatronic Modelling tools and Rhapsody
 Text based tools (work with PCE, one shot analysis)
 MatLab
 Maxima
 Block diagram based tools (DM and continuous time based
analysis)
 Simulink
 Lab View
 Time based analysis on another tool
 Modelica (OO textual mathematical modelling) Implemented
graphicaly in tools like
Dymola
SimulationX
 Integration is via the Functional Mockup Interface (FMI)

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Use different tools for different types of analysis (PCE)
 Useful for calculating properties of
systems using Parametric diagrams
Total system mass
Total systems weight
Examine Non-functional requirements
i.e. totalMass<17 Kg
 Maxima is easier to use than Matlab
Everything driven by function calls that
have to be defined in Matlab

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Use different tools for different types of analysis (Integrated)
 Simulink and National Instruments
 The mathematical model is embedded in
the plant model
 Connected via flow ports
 Different levels of analysis
 Specification level
 Understanding systems level non-functional
requirements i.e. max motor torque

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Satisfying Systems Level Requirements
 By Linking requirements to model Simulink models at the
block or even the model level we can show traceability
 This can be brought out in DM and RELM see
 https://w3-connections.ibm.com/files/app#/file/975b9225-9a41-4834-
af69-99450113100d

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Simulink and PCE for Design
 Possible to feed analysis from PCE model into a Design
Model
 Simulink model is more detailed and shows components with real
component values

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Leads to detailed analysis
 Specification model leads to ball park design figures
 Design model leads to identification of potential components
 Compare specification analysis to design analysis models
 Evaluate non-functional requirements at different levels of abstraction
Max torque (spec) Max torque (design) Max motor torque due
No gearbox actual masses/gb to gearbox

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Possible workflow for PCE and Simulink
 Specification Level (use case/ functional and non-functional
analysis)
 Take initial requirements and derive simulink or analytical model
using parametric diagrams (and Maxima) to understand things like
Expected torques for drive systems based on non-functional requirements
• Expected mass of components
• Timing requirements to complete an overarching operation of the
system
Basic control strategies
• Differentiate between acceleration, velocity controls
 Gives you the ability to do some initial understanding and refinement
of the systems design
 Derive further requirements
 Start to think about different implementation strategies

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Possible workflow for PCE and Simulink
 Design Synthesis level (Physical Architecture)
 Use Parametric diagrams to understand how non-functional requirements are met
 Total Mass of the System
 Total Cost of the System
 Start to do optimisation of the system using real component values
 Value over Excel is that:-
 Component values and the design decisions are captured directly in the model
 Through RDM and RELM there is potential to link into design catalogues of specific
components
 Capture the physical architecture as a Rhapsody model with the physical
behaviour captured in a detailed plant model created in Simulink
 Plant model uses real component data to verify that higher level functional and
non-functional requirements are met
 In the same ball park as the specification model (verification of the initial
assumptions)
 Provides a test case for the implementation

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HVC 2012
Usage on the “V-Model”
Requirements Analysis
Functional Decomposition
Design Synthesis
Analysis
Design
Implementation
SystemsEng.
SoftwareEng.
Simulation in Rhapsody
Generate code
(algorithmic integration)
Component/Subsystem Spec.
Simulation in Simulink
* Doing trade studies with PCE
is not shown in this tutorial
PCE, Maxima/Matlab
Simulation in Simulink
Analysis Non-Functional
System Requirements
Trade Study
Parametric Constraint
Evaluation (PCE)*

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Usage model for DM and Simulink
 Be careful
 Simulink has basic configuration control built into it
 Has a library mechanism to manage models
 Sophisticated users develop model libraries and reuse components
 In DM you can manage Simulink models as part of a
configuration and the owning Rhapsody model
 This would work best under actively managed mode
 If doing Hybrid simulation it is currently best to work in actively
managed mode
You can do simulation on DM but you need to reference the original
Simulink model or files, not the version published to DM
 You might get Simulink users generating code and
embedding in Rhapsody
 This is more sw orientated and would suggest using externally
managed mode

23. © 2013 IBM Corporation
Accelerating Product and Service Innovation
HVC 2012
Modelica
 A standardized textual language for modeling
physical systems
 Annotations are also standardized now and can
be used to render diagrams
 Developed since 1996 by the Modelica
Association https://www.modelica.org
 Current version 3.3 (May 2012)
 Modelica is Object-Oriented (see right side)
 Has a large (~30) set of free and commercial
libraries for different domains (source:
https://www.modelica.org/ModelicaLibrariesOverview)
 Implemented by various free and commercial
tools: (Dymola, Open Modelica, Math Modelica)
 The OMG SysML4Modelica profile extends
SysML to model Modelica constructs in SysML
(IBD) and roundtrip Modelica models back to
SysML
Source: https://modelica.org/publications/papers/Eurosim98Modelica.pdfSource: https://modelica.org/publications/papers/Eurosim98Modelica.pdf

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FMI – Functional Mockup Interface - Background
• FMI development initiated, organized and headed by Daimler AG
• Improved Software/Model/Hardware-in-the-Loop Simulation,
of physical models from different vendors.
• Open Standard
• 14 Automotive Use-Cases to evaluate FMI.
Engine
with ECU
Gearbox
with ECU
Thermal
systems
Automated
cargo door
Chassis components,
roadway, ECU (e.g. ESP)
etc.
functional mockup interface for model exchange and tool coupling
Blocwitz, Otter, et al, retrieved from: https://trac.fmi-standard.org/export/700/branches/public/docs/Modelica2011/The_Functional_Mockup_Interface.ppt
The FMI development is part of the ITEA2 MODELISAR project

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Functional Mock-up Interface (FMI) Approach
Problems / Needs
Component development by supplier
Integration by OEM
Many different simulation tools ?
supplier1 supplier2 supplier3 supplier4 supplier5
OEM
supplier1
tool 1
supplier2 supplier3 supplier4 supplier5
tool 2 tool 3 tool 4 tool 5
FMI OEM
Solution
Reuse of supplier models by OEM:
DLL (model import) and/or
Tool coupling (co-simulation)
Protection of model IP of supplier
!supplier1
supplier2
supplier3
OEM
Added Value
Early validation of design
Increased process
efficiency and quality
Blocwitz, Otter, et al, retrieved from: https://trac.fmi-standard.org/export/700/branches/public/docs/Modelica2011/The_Functional_Mockup_Interface.ppt

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Multi-domain engineering use case
1. Systems Eng. creates SysML model of overall system
2. Software Eng. creates UML models of software
components of vehicle and control station
3. Mechanical Eng. creates Modelica models for
mechanical components and control
4. FMUs created for behavioral models
5. Simulation Engineer cofigures Simulation using FMUs
6. Simulation Engineer performs Simulation verifying
System behavior
7. Simulation Engineer delivers results

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Fully integrated use cases
1. Systems Engineer specifies a system architecture in
Rhapsody
2. Systems Engineer exports some of the components to
physical modeling tool (e.g. SimulationX) and control
modeling tools (e.g. Simulink)
3. Mechnical Engineers models mechnical components
within the physical modeling tool
4. Software Engineer models software components in
Rhapsody
5. Control Engineer models the control elements
6. Any one of the engineers can deploy the integrated
model into the simulation tool and run the simulation

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Hybrid Simulation Platform Vision
Hybrid Simulation Platform
Modelica Plant Model
Simulink model
computation algorithm
UML based
behavioral model
System design
Com p11 com p21
com p31
System
composition
Simulation center
Contracts/ Simulation
Monitors
System Requirements
Models, designs and results repository
Version control and dependency analysis
FMU1 FMU1
FMU1
Textual
requirements
Models
28
SW Domain
Physical Domain
HiL
components

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References
CEE-1093, Case Study: Simulation of Complex Hybrid Systems by Using FMI for Israel
Aerospace Industries Eldad Palachi, Daniel Wadler (Innovate 2014)
Simulating Cyber-Physical Systems using SysML and Numerical Simulation Tools, Eldad
Palachi 8th
Haifa Verification Conference, Nov. 2012
http://www.research.ibm.com/haifa/conferences/hvc2012/papers/HVC2012Eldad_Palachi.pdf
Introduction to Parametric Modelling
https://www.youtube.com/watch?v=jpxXjkIsnmE
For those internal to IBM (although I may make this externally available)
Andy Lappings demo of Rhapsody, Simulink and DM based on ACC model
https://w3-connections.ibm.com/files/app#/file/975b9225-9a41-4834-af69-99450113100d
Mechatronics Group on Lotus Connections
https://w3-connections.ibm.com/wikis/home?lang=en#!/wiki/Mechatronics%20modelling%20Rhapsody%2C
%20Simulink%20and%20PCE/page/Welcome%20to%20the%20Systems%20Engineering
%20Mechatronics%20modelling%20with%20Rhapsody%2C%20Simulink%20and%20PCE%20page
Or to make it easier
http://ibm.co/1A8awWZ

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Integration points with MATLAB tools (July 2014) - summary
Name Tools Main Audience Description Canonical Workflow
“hosted simulation” Rhapsody,
Simulink,
Embedded
Coder
Software Engineers Import Simulink models and
generated code from embedded
coder to Rhapsody and generate
C/C++ code for execution (with or
without animation)
- Build Simulink Model
- Generate code for the Simulink model
- Import to Rhapsody
- Specify usage and composition
- Generate and execute in Rhapsody
“design control
systems”/”plant
modeling”
Rhapsody,
Simulink
Systems Engineers Export structured blocks parts
typed by “Simulink blocks” to
Simulink and run the simulation in
Simulink
Note: Relies on S-Function
generation from Rhapsody
- Export a “stub” block from Rhapsody to
Simulink: creating a skeleton model
- Specify the behavior of the block as a
Simulink model
- Import the Simulink model back to
Rhapsody (if the interface changed)
- Specify an IBD of a structured Simulink
block with parts typed by SysML blocks
connected to parts typed by Simulink blocks
- (Optionally) specify simulation properties
(start/end times, plots…) in Rhapsody
- Export the composition to Simulink and run
the simulation
“parametric
constraint
evaluator” (PCE)
Rhapsody,
MATLAB +
Math
Symbolic
Toolbox OR
MAXIMA
Systems Engineers Solve and perform analytical
simulation of a set of SysML
parametric diagrams
- Specify a set of equations and bind the
variables to block attributes using
parametric diagrams
- Define constraint views to group sets of
parametric diagrams and associate with
instance specifications
- Solve the constraint sets or plot time
dependent behavior
- Iterate over the values and update the
model with the results
“Simulink DM
integration”
Design
Manager
(DM) and
Simulink
Systems and Software
Engineering
Externally or actively manage
Simulink models in Rhapsody
design manager
- Publish a Simulink model on DM OR
- Actively manage Simulink models in DM
(save , load ,.lock, etc.)

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