Modelica. A Unified Object-Oriented Language for Physical Systems Modeling. Language Specification
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Pontus Lidman, MathCore, Linköping, Sweden
Sven Erik Mattsson, Dynasim, Lund, Sweden
Hans Olsson, Dynasim, Lund, Sweden
Martin Otter, German Aerospace Center, Oberpfaffenhofen, Germany
Tommy Persson, Linköping University, Sweden
Levon Saldamli, Linköping University, Sweden
André Schneider, Fraunhofer Institute for Integrated Circuits, Dresden, Germany
Michael Tiller, Ford Motor Company, Dearborn, MI, U.S.A.
Hubertus Tummescheit, Lund Institute of Technology, Sweden
Hans-Jürg Wiesmann, ABB Corporate Research Ltd., Baden, Switzerland
E.6.2 Contributors to the Modelica Standard Library
Peter Beater, University of Paderborn, Germany
Christoph Clauß, Fraunhofer Institute for Integrated Circuits, Dresden, Germany
Martin Otter, German Aerospace Center, Oberpfaffenhofen, Germany
André Schneider, Fraunhofer Institute for Integrated Circuits, Dresden, Germany
Hubertus Tummescheit, Lund Institute of Technology, Sweden
E.6.3 Main Changes in Modelica 1.4
• Removed declare-before-use rule. This simplifies graphical user environments, because there exists no
order of declarations when components are graphically composed together.
• Refined package concept by introducing encapsulated classes and import mechanism. Encapsulated classes
can be seen as "self-contained units": When copying or moving an encapsulated class, at most the import
statements in this class have to be changed.
• Refined when-clause: The
nondiscrete keyword is removed, equations in when-clauses must have a
unique variable name on left hand side variable and the exact mapping of when-clauses to equations is
defined. As a result, when-clauses are now precisely defined without referring to a sorting algorithm and it
is possible to handle algebraic loops between when-clauses with different conditions and between when-
clauses and the continuous-time part of a model. The discrete keyword is now optional, simplifying the
library development because only one type of connector is needed and not several types which do contain or
do not contain the discrete prefix on variables. Additionally, when-clauses in algorithm sections may have
elsewhen-clauses which simplifies the definition of priorities between when-clauses.
• For replaceable declarations: allowed constraining clauses, and annotations listing suitable redeclarations.
This allows a graphical user environment to automatically build menus with meaningful choices.
• Functions can specify their derivative. This allows, e.g., the application of the Pantelides algorithm to
reduce the index of a DAE also for external functions.
• New built-in operator "rem" (remainder) and the built-in operators div, mod, ceil, floor, integer, previously
only allowed to be used in when-clauses can now be used everywhere, because state events are
automatically generated when the result value of one of these operator changes discontinuously.
• Quantity attribute also for base types Boolean, Integer, String (and not only for Real), in order to allow
abstracted variables to refer to physical quantities (e.g. Boolean i(quantity="Current") is true if current is
flowing and is false if no current is flowing).
•
final keyword also allowed in declaration, to prevent modification. Example:
model A
Real x[:];
final Integer n=size(x,1);
end A;
• Several minor enhancements, such as usage of dot-notation in modifications
(e.g.: "
A x(B.C=1,B.D=2)" is the same as "A x(B(C=1,D=2));").
232 Modelica Language Specification 3.1
• Internally restructured specification.
Modelica 1.4 is backwards compatible with Modelica 1.3, with the exception of (1) some exotic cases where
different results are achieved with the removed "declare-before-use-rule" and the previous declaration order, (2)
when-clauses in equations sections, which use the general form "expr1 = expr2" (now only "v=expr" is allowed +
some special cases for functions), (3) some exotic cases where a when-clause may be no longer evaluated at the
initial time, because the initialization of the when-condition is now defined in a more meaningful way (before
Modelica 1.4, every condition in a when-clause has a "previous" value of false), and (4) models containing the
nondiscrete keyword which was removed.
E.7 Modelica 1.3 and Older Versions.
Modelica 1.3 was released December 15, 1999.
E.7.1 Contributors up to Modelica 1.3
The following list contributors and their affiliations at the time when Modelica 1.3 was released.
Hilding Elmqvist, Dynasim AB, Lund, Sweden
Bernhard Bachmann, ABB Corporate Research Center Heidelberg
Francois Boudaud, Gaz de France, Paris, France
Jan Broenink, University of Twente, Enschede, Netherlands
Dag Brück, Dynasim AB, Lund, Sweden
Thilo Ernst, GMD FIRST, Berlin, Germany
Ruediger Franke, ABB Network Partner Ltd. Baden, Switzerland
Peter Fritzson, Linköping University, Sweden
Alexandre Jeandel, Gaz de France, Paris, France
Pavel Grozman, Bris Data AB, Stockholm, Sweden
Kaj Juslin, VTT, Espoo, Finland
David Kågedal, Linköping University, Sweden
Mattias Klose, Technical University of Berlin, Germany
Nathalie Loubere, Gaz de France, Paris, France
Sven-Erik Mattsson, Dynasim AB, Lund, Sweden
Peter J. Mosterman, DLR Oberpfaffenhofen, Germany
Henrik Nilsson, Linköping University, Sweden
Hans Olsson, , Dynasim AB, Lund, Sweden
Martin Otter, DLR Oberpfaffenhofen, Germany
Per Sahlin, Bris Data AB, Stockholm, Sweden
Andrée Schneider, Fraunhofer Institute for Integrated Circuits, Dresden, Germany
Michael Tiller, Ford Motor Company, Dearborn, MI, U.S.A.
Hubertus Tummescheit, Lund Institute of Technology, Sweden
Hans Vangheluwe, University of Gent, Belgium
E.7.2 Main Changes in Modelica 1.3
Modelica 1.3 was released December 15, 1999.
• Defined connection semantics for inner/outer connectors.
• Defined semantics for protected element.
• Defined that least variable variability prefix wins.
• Improved semantic definition of array expressions.
• Defined scope of for-loop variables.
233
E.7.3 Main Changes in Modelica 1.2
Modelica 1.2 was released June 15, 1999.
• Changed the external function interface to give greater flexibility.
• Introduced
inner/outer for dynamic types.
• Redefined
final keyword to only restrict further modification.
• Restricted redeclaration to replaceable elements.
• Defined semantics for if-clauses.
• Defined allowed code optimizations.
• Refined the semantics of event-handling.
• Introduced
fixed and nominal attributes.
• Introduced
terminate and analysisType.
E.7.4 Main Changes in Modelica 1.1
Modelica 1.1 was released in December 1998.
Major changes:
• Specification as a separate document from the rationale.
• Introduced prefixes discrete and nondiscrete.
• Introduced pre and when.
• Defined semantics for array expressions.
• Introduced built-in functions and operators (only connect was present in Modelica 1.0).
E.7.5 Modelica 1.0
Modelica 1, the first version of Modelica, was released in September 1997, and had the language specification as
a short appendix to the rationale.
234 Modelica Language Specification 3.1
235
Index
abs, 20
access control, 29
access operator, 19
algorithm sections, 121
algorithms, 121
and, 16, 17
annotation, 12
function, 194, 195
annotations
function derivative, 194
arithmetic operators, 17
array, 105, 107, 108, 135
dimension, 108
indexing with boolean values, 114
indexing with enumeration values,
114
reduction, 109
array dimension
index bounds, 107
assert function, 12, 82, 127
assignment, 122
balammodel
balanced, 38
balanced models, 38
block, 12
specialized class, 37
Boolean, 13, 45
break, 124
built-in
array functions, 107
functions, 136
operators, 15
time variable, 19
types, 15, 29, 56
cardinality, 22, 131
ceil, 21
change, 25
change function, 131
character set, 11
class
base class restrictions, 64
declaration, 34
definition, 29
enclosing, 49
nested, 36
restricted and enhanced, 37
short definition, 35
specialized, 37
class extends, 57, 70
class type, 57
comments, 11
component, 10
conditional declaration, 33
declaration, 29
conditional declaration, 33
connect equation, 79
connection
equations, 101
graphs. See
Connection Graphs, 99
connections, 89
connector
specialized class, 37
connectors, 89
constant, 30, 32
constrainedby, 12, 73
constraining type, 73
constructor functions, 108
conversion functions, 108
cross, 110
declaration equations, 31, 77
declarations, 9
default connectable, 60
delay, 22, 131
der, 22, 131
diagonal, 108
discrete, 30, 32
div, 21
edge, 25
edge function, 131
element, 10
else, 12, 16
elsewhen, 81
empty function calls, 136
encapsulation, 153
Enumeration, 45
equality equations, 77
equation, 77, 78
categories, 77
equation operators, 83, 98
equations, 77
escape codes, 13
evaluation order, 16
event-related operators, 24
expressions
parameter, 26
expressions, 15
constant, 26
expressions
discrete-time, 26
expressions
continuous-time, 27
extends, 63
class ex
tends, 70
fill, 108
fixed, 47
flattening, 53
partial, 53
floating point numbers, 13
floor, 21
for, 78, 123, 124
formal parameters, 130
fully qualified name, 154
function, 122, 129, 132
definition, 130
mathematical, 21
numeric, 20
reinit, 127
return, 130
specialized class, 37
function declaration, 129
functions, 121
assert, 12, 82, 127
change, 131
edge, 131
initial, 131
matrix, 30, 105
sample, 131
terminal, 131
terminate, 83, 127
generics, 63
guard expressions, 16
identifiers, 12
identity, 108
if, 16, 79, 80, 125, 126
if-expression, 18
indexing
enumeration, 114
information hiding, 153
inheritance, 63
multiple, 64
initial, 24
initial algorithm, 121
initial equation, 86
initial function, 131
initialization, 86
number of equations needed, 87
inner, 52
input, 30, 37, 131
instance, 29
instantiation, 10
integer, 21, 22
Integer, 13, 44
interface, 55
intrinsic operators, 19
iteration ranges, 78, 123
keyword
annotation, 12
block, 12
break, 124
else, 12, 16
elsewhen, 81
equation, 77, 78
for, 78, 123, 124
function, 122, 129, 132
if, 16, 79, 80, 125, 126
input, 131
protected, 29
public, 29
return, 130
then, 16
when, 79, 125
while, 124
within, 155
keywords, 12
linspace, 108
literal constants, 13
236 Modelica Language Specification 3.1
literals
Boolean, 13
Integer, 13
Real, 13
record, 14
String, 13
local class definitions, 36
matrices, 105
matrix, 108
matrix algebra, 110
matrix function, 30, 105
max, 109
min, 109
mod, 21
model
specialized class, 37
model extends, 70
MODELICAPATH, 156
modification, 66
modification environment, 67
modification equations, 77
modifications, 63
multiple inheritance, 64
name lookup, 49
names, 12
ndims, 108
nested classes, 36
noEvent, 24
nominal, 47
nondeclarative constructs, 131
normal equations, 77
not, 16, 17
notation and grammar, 10
ones, 108
operators, 15
*, 16, 17
., 15
/, 16, 17
[ ], 15
^, 15, 17
+, 16, 17
<, 16, 17
<=, 16, 17
<>, 17
==, 16, 17
>, 16, 17
>=, 16, 17
and, 16, 17
associativity, 15
delay, 131
der, 131
equality, 17
logical, 17
miscellaneous, 18
not, 16, 17
or, 16, 17
pre, 131
precedence, 15
reinit, 131
relational, 17
operators:, 17
or, 16, 17
outer, 52
outerProduct, 110
output, 30, 37
overconstrained, 83, 98
overconstrained connection loop, 101
package, 153–78
specialized class, 37
parameter, 30, 32
plug-compatibility, 59
pre, 24, 131
prefix rules, 31
product, 109
protected, 29
public, 29
real, 44
record
specialized class, 37
redeclaration, 63
Redeclaration, 69
reinit, 25, 82, 131
reinit function, 127
rem, 21
reserved words, 12
restricted and enhanced classes, 37
return, 130
sample, 24
sample function, 131
scalar, 108
scalar functions, 135
scoping, 49
ShirtSizes, 114
short class definition, 35
sign, 20
size, 108
skew, 110
smooth, 24
specialized classes, 37
sqrt, 20
start, 47
Statements, 122
StateSelect, 47
String, 13, 44, 45
concatenation, 115
string concatenation, 18
subtype, 56
function, 61
restricted, 59
sum, 109
symmetric, 110
synchronous data-flow principle, 84
terminal, 24
terminal function, 131
terminate function, 83, 127
then, 16
time, 19
transitively non-replaceable, 57, 65
type, 55, 56
constraining, 73
specialized class, 37
types
Boolean, 13, 45
built-in, 15, 29, 56
Enumeration, 45
Integer, 13, 44
predefined, 44
String, 13, 44, 45
variability, 26
variable declarations, 29
vector, 108
vector algebra, 110
vectors, 105
when, 79
when-equations
restrictions, 80
single-assignment rule, 81
when-statements, 125
restrictions, 126
while, 124
within, 155
zeros, 108