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Modelica Tutorial

The Twin Builder® Modelica Tutorial provides an overview of the Twin Builder software, which is used for designing and analyzing complex technical systems using Modelica, an open standard modeling language. The document includes instructions on working with Modelica components, creating and simulating models, and offers case studies to illustrate practical applications. Additionally, it outlines available resources and documentation for users to enhance their understanding of Twin Builder functionalities.

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0% found this document useful (0 votes)

6 views175 pages

Modelica Tutorial

Uploaded by

Bilal

We take content rights seriously. If you suspect this is your content, claim it here.

Available Formats

Download as PDF, TXT or read online on Scribd

Twin Builder® Modelica Tutorial

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Twin Builder® Modelica Tutorial

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Twin Builder® Modelica Tutorial

Table of Contents
Table of Contents Contents-1

1 - Introduction to Modelica in Twin Builder 1-1

General Description of Contents 1-2

Twin Builder Documentation 1-2

2 - Working with Modelica in Twin Builder 2-1

Overview of the Twin Builder Interface 2-1

Overview of the Twin Builder Modelica Environment 2-3

Starting Twin Builder and Creating a New Project 2-4

The Twin Builder Component 2-7

Creating a Modelica Component in Twin Builder 2-9

Importing a Modelica Model File 2-9

Using the Diagram Editor to Create a Modelica Model 2-12

Using a Modelica Component in a Twin Builder Design 2-17

Analyzing a Design and Plotting Results 2-17

Workflow for Creating, Compiling, and Simulating a Modelica Model in Twin Builder 2-19

Adding a New Project and Modelica Model in Twin Builder 2-20

Placing Modelica Components for a New Model 2-21

Connecting Modelica PID Controller Components 2-22

Adding an Initial Equation and Variable Declaration to the PID Controller 2-23

Initial Equation 2-23

Variable Declaration 2-25

Setting Up Model Properties for the PID Controller 2-26

Compiling and Updating the PID Controller Project 2-28

Adding the PID Controller Component to a Twin Builder Schematic 2-31

Defining Outputs and Creating Reports for the PID Controller 2-33

Contents-1

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Twin Builder® Modelica Tutorial

Setting Up and Running a Transient Analysis for the PID Controller 2-34

3 - Case Studies 3-1

Mechanics Example: Heat Losses 3-1

Heat Losses Example Workflow 3-2

Adding a New Project and Modelica Model in Twin Builder 3-2

Placing Modelica Components for the Heat Losses Model 3-3

Connecting Modelica Heat Losses Components 3-4

Setting Up Model Properties for the Heat Losses Example 3-6

Compiling and Updating the Heat Losses Project 3-10

Adding the Heat Losses Component to a Twin Builder Schematic 3-13

Defining Outputs and Creating Reports for the Heat Losses Design 3-15

Setting Up and Running a Transient Analysis for the Heat Losses Design 3-16

Fluids Example: Controlled Tanks 3-19

Adding a New Project and Modelica Model in Twin Builder 3-20

Placing Modelica Components for the Controlled Tanks Model 3-21

Connecting Modelica Controlled Tanks Components 3-22

Declaring a Fluid Medium Variable for the Controlled Tanks Model 3-25

Setting Up Model Properties for the Controlled Tanks Example 3-27

Compiling and Updating the Controlled Tanks Project 3-29

Adding the Controlled Tanks Component to a Twin Builder Schematic 3-33

Defining Outputs and Creating Reports for the Controlled Tanks Design 3-35

Setting Up and Running a Transient Analysis for the Controlled Tanks Design 3-36

Thermal Example: Parallel Pump Drop Out 3-37

Adding a New Project and Modelica Model in Twin Builder 3-39

Placing Modelica Components for the Parallel Pump Drop Out Model 3-39

Connecting Modelica Parallel Pump Drop Out Components 3-41

Setting Up Model Properties for the Parallel Pump Drop Out Example 3-42

Compiling and Updating the Parallel Pump Drop Out Project 3-45

Contents-2

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Twin Builder® Modelica Tutorial

Adding the Parallel Pump Drop Out Component to a Twin Builder Schematic 3-48

Defining Outputs and Creating Reports for the Parallel Pump Drop Out Design 3-50

Setting Up and Running a Transient Analysis for the Parallel Pump Drop Out Design 3-51

Magnetics Example: SMPM Inverter MultiPhase 3-53

Adding a New Project and Modelica Model in Twin Builder 3-55

Placing Modelica Components for the SMPM Inverter MultiPhase Model 3-56

Connecting Modelica SMPM Inverter MultiPhase Components 3-58

Adding an Initial Equation and Variable Declaration to the SMPM Inverter

MultiPhase Design 3-60

Setting Up Model Properties for the SMPM Inverter MultiPhase Example 3-64

Compiling and Updating the SMPM Inverter MultiPhase Project 3-69

Adding the SMPM Inverter MultiPhase Component to a Twin Builder Schematic 3-73

Defining Outputs and Creating Reports for the SMPM Inverter MultiPhase Design 3-75

Setting Up and Running a Transient Analysis for the SMPM Inverter MultiPhase
Design 3-77

Electrical Example: AIMC with Losses 3-79

Adding a New Project and Modelica Model in Twin Builder 3-80

Placing Modelica Components for the AIMC Model 3-81

Connecting Modelica AIMC Components 3-82

Adding an Initial Equation and Variable Declaration to the AIMC Design 3-84

Initial Equation 3-84

Setting Up Model Properties for the AIMC Example 3-90

Compiling and Updating the AIMC Project 3-94

Adding the AIMC Component to a Twin Builder Schematic 3-98

Defining Outputs and Creating Reports for the AIMC Design 3-100

Setting Up and Running a Transient Analysis for the AIMC Design 3-102

Example: Simple Power Train 3-103

Adding a New Project and Modelica Model in Twin Builder 3-105

Contents-3

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Twin Builder® Modelica Tutorial

Placing Modelica Components for the Simple Power Train Model 3-106

Connecting Modelica Power Train Components 3-107

Setting Up Model Properties for the Modelica Power Train Example 3-109

Compiling and Updating the Simple Power Train Project 3-113

Adding the Simple Power Train Component to a Twin Builder Schematic 3-116

Placing and Connecting Twin Builder Components for the Simple Power Train
Design 3-117

Setting Up Properties for the Simple Power Train Twin Builder Components 3-119

Defining Outputs and Creating Reports for the Simple Power Train Design 3-121

Setting Up and Running a Transient Analysis for the Simple Power Train Design 3-124

4 - Index 127

Contents-4

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Twin Builder® Modelica Tutorial

1 - Introduction to Modelica in Twin Builder

Twin Builder is a software package used to design and analyze complex technical systems.
Simulation models created with Twin Builder can contain circuit components from different
physical domains, block elements, and state machine structures modeled in Modelica.

Twin Builder’s simple graphical interface makes even complex models easy to design. Fast and
stable simulation algorithms reduce simulation time and provide reliable results.

The various tools used for modeling, simulating, and analyzing are integrated within the Twin
Builder application which manages the project files, sets options for both simulation and program
environment, runs analyses, and generates reports.

Modelica is an open standard non-proprietary, object-oriented, equation-based language to

conveniently model complex physical systems containing, for example, mechanical, electrical,
electronic, hydraulic, thermal, control, electric power or process-oriented subcomponents. The
language is standardized and developed by the Modelica Association. The association also
supports a large open source library developed in Modelica called the Modelica Standard Library
(MSL).

As a modeling language, Modelica has the following advantages for modeling engineering
systems:
l It is a very capable modeling language, which is well designed considering all physical
and signal domains. It allows user to focus on high-level mathematical descriptions of
engineering component. While deep knowledge of complex solution enabling topics, such
as differential-algebraic equations, symbolic manipulation, numeric solvers, etc., is not
required. These solver-related aspects of simulation models are handled by Modelica
compiler through complex algorithms behind the scenes.
l The language syntax supports both behavioral and structural definition of a model. For
behavioral definition, it is an equation-based language, which enables easy high-level
modeling of various engineering components (e.g. springs, resistors, clutches, etc.). And
the structural definition supports convenient connection between components, so they
can be easily combined into systems and architectures.
l It supports a wide range of modeling formalisms. It allows both causal (often used for
control system design) and acausal (often used in creating schematic oriented physical
designs) approaches within the same model. And it also supports continuous and discrete
behaviors. As a result, both physical design and control design can be done using
Modelica.
l It is designed to support effective library development and model exchange. It is built on
object-oriented constructs, with JAVA like Syntax, to facilitate reuse of models. Being an

Introduction to Modelica in Twin Builder 1-1

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Twin Builder® Modelica Tutorial

open language also makes it possible to import and export Modelica models between
different tools that support the standard.

More information on Modelica can be found here: [Link]

General Description of Contents

Introduction

Provides an overview of the Twin Builder software package for use in designing and analyzing
complex technical systems using components, including components created using the
Modelica modeling language.

Working with Modelica in Twin Builder

Provides an overview of the Twin Builder environment, the use of the Modelica environment
within Twin Builder to create and use Modelica components in Twin Builder designs, analyzing
designs and obtaining results, and includes an example workflow for creating, compiling, and
simulating a Modelica model in Twin Builder.

Case Studies

Uses six case study examples to provide an in-depth understanding of how to use Modelica
models in Twin Builder designs.

Twin Builder Documentation

Use the following guides and manuals to quickly find help while working with Twin Builder.

Table 1: PDF Manuals

Getting Started Program functionality at a glance, new functions, step-by-step

simulation examples, program conventions. Click Help > Twin Builder
Getting Started Guides or Help > Twin Builder PDFs > Twin
Builder Getting Started Guides > Twin Builder Getting Started
Guide.
Modelica Tutorial Detailed descriptions and examples of Twin Builder’s Modelica
functionality (this guide). Listed under Help > Twin Builder PDFs >
Twin Builder Getting Started Guides > Modelica Tutorial
Installation Guide Refer to the Ansys EM Suite Installation topic. This topic provides links
to the Windows Installation Guide and the Platform Support website.

Table 2: Help

Help Click Help > Twin Builder Help to access the Help with index and
search capabilities available for the Twin Builder programs and
installed models.

Introduction to Modelica in Twin Builder 1-2

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Twin Builder® Modelica Tutorial

Help also has a description of additional Twin Builder modules such as

Interface and Coupling elements, C-interface, and optimization
algorithms.

Click Help > Twin Builder PDFs > Twin Builder Help to access the
PDF of the Twin Builder Help.
Examples Examples are available for installed Twin Builder models. Open the
example by right-clicking on the model in the Project Manager and
selecting Load Example.

If Twin Builder was installed in the default location, Twin Builder

application examples are available in
"C:\Program Files\ANSYS Inc\v252\AnsysEM\Examples\Twin
Builder\Applications"

and the Modelica Tutorial examples are available in

"C:\Program Files\ANSYS Inc\v252\AnsysEM\Examples\Twin
Builder\Modelica Tutorial\Tutorial Examples"

Introduction to Modelica in Twin Builder 1-3

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Twin Builder® Modelica Tutorial

PDF layout 1-4

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Twin Builder® Modelica Tutorial

2 - Working with Modelica in Twin Builder

The topics in this section:

l Provide an overview of the Twin Builder user interface, Twin Builder projects and the
Project Manager window, and Twin Builder components.
l Explain basic user operations: creating a Modelica component in Twin Builder, using a
Modelica component in a Twin Builder design, analyzing designs, and plotting results.
l Provide an example workflow for creating, compiling, and simulating a Modelica model in
Twin Builder.

Overview of the Twin Builder Interface

The figure below and the table following describe the major Twin Builder interface elements for
an existing project with its associated schematics.

Project The Project Manager window shows all the components, models, and other
Manager elements of each design in the project. Each project has its own expandable

Working with Modelica in Twin Builder 2-1

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Twin Builder® Modelica Tutorial

window and Project Tree. Many operations on the design elements can be performed directly
Project Tree from the Project Manager window.
Component Displays, on the Components tab, the component categories, including
Libraries Favorites, Most Recently Used, Simplorer Elements, and Project Components.
window The Project Components section lists the elements that are active in your
projects. It also provides a search feature on the Search tab.

Note that the Modelica libraries are not displayed in this window, because
Modelica models cannot be directly used in Twin Builder Design. Only after a
Modelica model is compiled in a project and a component is generated, will it be
displayed in this window under Project Component.

The Modelica libraries are displayed only in the Twin Builder Modelica
Environment.
Message Displays error, informational, and warning messages for the active project.
Manager
window
Progress Displays solution progress information.
window
Properties Displays the attributes of a selected object in the active model, such as the
window object’s name, electrical or other associated physical quantities, orientation, and
color.

Also displays information about a selected command that has been carried out.
For example, if a circle was drawn, its command information would include the
command’s name, the circle’s center position coordinates, and the size of its
radius.
Design area Displays one or more editor windows such as the Schematic Editor, model
window editors, and symbol editor. It also displays various report windows.
Menu bar Provides various menus that enable you to perform Twin Builder tasks, such as
managing project files, designs, and libraries; customizing desktop components;
drawing objects; and setting and modifying project parameters and options.
Ribbons Provides tabs containing icons that act as shortcuts for executing various
commands.
Status bar Shows current actions and provides instructions.

Note The screen layout may be different from what is shown in the picture above, depending
on the View menu settings.

For additional information, please refer to the help and the Twin Builder Getting Started
Guide.

Working with Modelica in Twin Builder 2-2

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Twin Builder® Modelica Tutorial

Overview of the Twin Builder Modelica Environment

When adding a Modelica model, or editing an existing one, a Twin Builder Modelica environment
dedicated for Modelica modeling is presented for the user. This environment resembles the Twin
Builder schematic editor environment. The following figure and table describe the areas that
differ from the schematic editor environment when the Twin Builder Modelica environment is
active.

Ribbons Provides a Modelica tab containing icons that act as shortcuts for Modelica
special commands.
Component Displays only the Modelica libraries, which can be used in the Modelica
Libraries Environment. Library file supported here is the Modelica package file, which is
window formatted differently than the main Twin Builder libraries.
Properties Displays Modelica model properties of a selected instance in the diagram editor.
window User can also edit property values here.

Also displays information about a selected command that has been carried out.
For example, if a circle was drawn, its command information would include the

Working with Modelica in Twin Builder 2-3

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Twin Builder® Modelica Tutorial

command’s name, the circle’s center position coordinates, and the size of its
radius.
Design area Provide two views for a Modelica model: text, and diagram. You can switch
window between the two views using the tabs at the bottom of this window.

You will be asked whether to overwrite from diagram when switching to the text
view, or when compiling. This is because a model created or edited using the
Diagram Editor can be saved and used in the project only after the model text
has been updated.

Starting Twin Builder and Creating a New Project

Twin Builder can be started like all Windows applications - by using the Start menu on the
Windows task bar.

1. Click Start, and select Programs > Ansys EM Suite version > Ansys Twin
Builder version.

By default, opening Twin Builder creates a new project named Projectn and inserts a new
design named TwinBuildern, where n is the order in which each was added to the current
session. A project is a collection of one or more designs saved in a single *.aedt file.

The new project, which appears in the Project Manager window, contains a file structure
that organizes design elements such as Ports, Analysis, Optimetrics, and Results. Project

Working with Modelica in Twin Builder 2-4

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Twin Builder® Modelica Tutorial

Definitions such as Components, Symbols, Models, Packages, Materials, and Scripts are
also listed.

The Project Manager window shows the projects loaded into Twin Builder. Each project
may consist of one or more designs. The Project Manager window contains details about
all open Twin Builder projects in a form known as the project tree, as shown below:

The top node listed in the project tree is the project name. Expand the project icon to view
all the Twin Builder design information and definitions for the project. If there are multiple
designs in a project, each design’s ports, analysis setup, and results are displayed as
entries in a separate sub-tree.

The label of the selected Project Tree element that is active (that is, has focus) may be
rendered in bold text; or a small “window” icon may display next to the selected Project
Tree element. The icon will be gray if the editor or plot window associated with the
selected element is closed, or not in focus. Clicking the gray icon will open the window and
bring it into focus.

Right-clicking a folder or item opens a shortcut menu that allows you to perform various
operations. For example, right-clicking the analysis icon for a design displays a menu
similar to this:

Working with Modelica in Twin Builder 2-5

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Twin Builder® Modelica Tutorial

Virtually all project editing and management can be done from the Project Manager
window using the right mouse button shortcut menus. Many of these menus are also
available from the main menu bar in the Twin Builder menu.

Once you insert a Twin Builder design into a project, it is listed as the second node in the
project tree. It is named TwinBuildern by default, where n is the order in which the design
was added to the project. Expand the design icon in the project tree to view all of the
specific data about the model, including its solution and post-processing information.

The TwinBuildern node contains the following project details:

Ports Displays the interface and global ports added to a Twin Builder
design.
Analysis Displays the solution setups and solution options for a Twin
Builder design. A solution setup specifies how Twin Builder will
compute the solution. The solution options provide settings such
as the integration formula, iterations, and maximum and
minimum errors.
Optimetrics Displays any Optimetrics setups added to an Twin Builder
design.
Results Displays any post-processing reports generated.

Refer to The Project Manager Window in the main Twin Builder help for more information.

2. To rename the design, right-click Twin Buildern in the project tree, and choose Rename
on the shortcut menu.
3. Type a name of your choosing, and then press Enter to complete the change.

Working with Modelica in Twin Builder 2-6

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Twin Builder® Modelica Tutorial

Note To use the example files provided for this Tutorial, choose File > Open Examples from
the main menu and navigate to the example *.aedt files in the Tutorial Examples folder
in "C:\Program Files\ANSYS Inc\v252\AnsysEM\Examples\Twin Builder\Modelica
Tutorial".

The Twin Builder Component

A Twin Builder component (for example, a resistor, a transistor, or a motor) has several
definitions associated with it. It needs a Symbol definition to describe the appearance of its
schematic symbol, a Model definition to define the characteristic behavior of the component,
and a Component definition as a kind of high-level wrapper.

In Twin Builder projects, library component definitions are accessed once per component –
when you place the first instance of a component onto a schematic. Once a component is
placed, all the definitions for that component are transferred (copied) from the library to the
project file.

Editing component definitions and updating instances on a schematic are then controlled from
the project definitions, which are listed in the Definitions folder in the Project Manager window.
In other words, you edit the various definitions associated with a component in the project, not in
the library.

For a component's model definition, Twin Builder supports multiple modeling languages, as
shown below in the Add Model dialog box. Modelica is one of the supported languages. Adding
or editing a Modelica model is done using the Twin Builder Modelica Environment.

After a Modelica model is compiled, Twin Builder creates a component of the same name in the
project definitions. The component, and its associated symbol and model, are local to the
project. You can locate the component either in the project tree Definitions > Components in
the Project Manager, or in the Component Libraries window, under Project Components as
shown in the figure below. Within the project, you can drag-and-drop the Modelica component
onto the schematic of a design, where it can be connected with other Twin Builder components,
and simulated with the design.

Working with Modelica in Twin Builder 2-7

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Twin Builder® Modelica Tutorial

You can right-click the component in the project tree to:

l Edit the component's symbol, which changes its appearance on the schematic.
l Export the component to a user library (UserLib) or personal library (PersonalLib). (Refer
to the Twin Builder help for information on Working with Libraries.)

You can also right-click the model to:

l Edit the model, which opens the Modelica environment for editing.
l Export the compiled Modelica model to a user or personal library.
l Export the model as a Functional Mock-up Unit (FMU).

Working with Modelica in Twin Builder 2-8

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Twin Builder® Modelica Tutorial

"Overview of the Twin Builder Modelica Environment" on page 2-3

Creating a Modelica Component in Twin Builder

You can create a Modelica component in Twin Builder in either of two ways:
l Import an existing Modelica model .mo file.
l Use the Twin Builder Modelica diagram editor.

Importing a Modelica Model File

To create a Modelica component in Twin Builder by importing a Modelica model .mo file:

Working with Modelica in Twin Builder 2-9

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Twin Builder® Modelica Tutorial

1. In a Twin Builder project, select: Tools > Project Tools > Import Twin Builder Models.

2. Navigate to the Modelica model you want to import, and click Open.

Working with Modelica in Twin Builder 2-10

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Twin Builder® Modelica Tutorial

3. In the Select Model dialog box, select the check boxes to make sure the desired model’s
information is transferred into Twin Builder, then click OK.

4. Select interface and other properties for the imported Modelica model.

Working with Modelica in Twin Builder 2-11

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Twin Builder® Modelica Tutorial

5. After the Modelica model, function, or package has been successfully transferred into
Twin Builder, the following dialog box appears.

6. Click OK and the entire model/function/package is included in one component in the

Project Manager tree in the Definitions > Components folder. You can now select a
component and place it on the schematic.

Using the Diagram Editor to Create a Modelica Model

To create a Modelica component in Twin Builder using the Modelica Model diagram editor:

Working with Modelica in Twin Builder 2-12

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Twin Builder® Modelica Tutorial

1. In a Twin Builder project, do one of the following to create a Modelica model:

l Click Twin Builder > Add Model.
l Right-click the Models folder under Definitions in the Project Manager pane and
select Add Definition.
l Press Ctrl+Shift+M.

The Add Model dialog box appears. Ensure that the Modelica type is selected.

2. Enter a name for the model and click OK. The model file opens in Twin Builder's Modelica
model diagram editor in a separate Diagram tab.

Note If an editable model has been imported, you must add a new Diagram Editor by
clicking the Add Diagram Editor icon in the Modelica ribbon, or by clicking
Modelica Model Editor > Add Diagram Editor.

3. From the right side of the Diagram Editor, drag and drop the component you want on the
Diagram Editor. Press Esc to complete the action.
l To move a component after placing it, select and drag it.
l To rotate a component before placing it, press R before releasing the mouse click.
l To rotate a component after placing it, select it and press Ctrl +R, which rotates it
by 90°, or right-click the component and select the Rotate option.

Note When you rotate a block or component, the diagram editor removes wires
connected to unselected components. You must reconnect the blocks and
components.

Working with Modelica in Twin Builder 2-13

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Twin Builder® Modelica Tutorial

l To delete a component, select it and press Delete, or right-click and select Delete.

Note When you delete a block or component, the Diagram Editor removes all
connected wires.

For more information, refer to Component Libraries in the Twin Builder help.

4. After arranging the components, use wires and connectors to connect the components.
Click on the input/output pins of the component and connect them to the desired pins.

5. For Modelica models, if the component has an array interface port and you make a
connection, you can select the connection and change the default value of 1 for
ArrayIndexOfConnectionX in the Properties window.

Working with Modelica in Twin Builder 2-14

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Twin Builder® Modelica Tutorial

6. After you complete the diagram, edit the properties and parameters of the components in
the Properties window.

7. Variable’s attributes inside a Modelica instance cannot be directly changed in the

Properties window. If you want to do so, you can add modifier to this instance by select it
in the diagram, then click Add Modifier in Modelica ribbon.

8. You can also declare variables or add equations by clicking the Variables and Equations
icons in Modelica ribbon.

9. To update the model file text, click Modelica Model Editor > Update Text from Diagram
or click the Update Text from Diagram icon on the Modelica ribbon. For more
information, refer to Updating Text from Diagram in the Twin Builder help.

10. Now the Modelica model is complete, it is ready to be compiled and added to the Twin
Builder project as a component. Click Compile & Update Project on the Modelica ribbon
tab.

11. A model created or edited using the Diagram Editor can be saved and used in the project
only after the model text has been updated. Thus, after clicking Compile & Update

Working with Modelica in Twin Builder 2-15

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Twin Builder® Modelica Tutorial

Project, an overwrite model text dialog will be displayed. The same dialog is also
displayed whenever you switch tabs to SimModel to view Modelica model text. You can
choose either to overwrite from the diagram, or to use the current model text and not
overwrite from the diagram. The latter choice won’t apply any change to the diagram since
the last save or compile.

12. Following the compile operation, you can select interfaces for the component, which will
be accessible in the higher-level Twin Builder design. Click Apply Changes to continue.

13. The resulting Update Components dialog box allows you to confirm whether to create
orupdate an existing Twin Builder component.

Click OK and the Modelica component is ready to use in a Twin Builder design.

Working with Modelica in Twin Builder 2-16

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You can find the newly created Modelica component in the Project Manager's
Definitions > Components folder.

Using a Modelica Component in a Twin Builder Design

After a Modelica component is created in a project, you can locate it in the project tree under
Definitions>Components, and drag and drop it in a Twin Builder design schematic.

If a complete system is built inside the Modelica component, it is ready to simulate and plot
results as described in Analyzing a Design and Plotting Results.

You also have the option to implement a subsystem inside a Modelica component, then connect
the Modelica component with other Twin Builder components in a design schematic. For an
example of this workflow, refer to the case study: Simple Motor Power Train.

Analyzing a Design and Plotting Results

Twin Builder enables you to set up and run analyses (simulations) on the designs you construct
in the Schematic Editor, using the simulator engine in the background for running the analyses.
For a given simulation, you typically have an interest in looking at the results for specific
conditions in the schematic. To create reports or plots of simulation results, you must first define
outputs in the Output dialog box to make them available for plotting. Running an analysis then
provides results for any reports and plots you create.

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1. To define outputs for plotting, click on Output Dialog on the Schematic tab of the ribbon.

2. Select the outputs that are needed for your plots. (Refer to Setting the Outputs for
Simulation in the Twin Builder help for more information.)

3. In the Project Manager Results context menu, you can then select from a list of report
types under Create Standard Report for the design to be simulated. The defined outputs
will be available for plotting. For details of viewing simulation results, see Generating
Reports and Postprocessing in the Twin Builder Help.

4. By default, a transient analysis TR is created for each design. You can find it in the Project
Manager under Analysis for the design. A transient analysis simulates the time-domain
response of the system. Double-click TR to set up the end time and desired time step for
the simulation. For more details of transient analysis, see Transient Analysis Setup in the

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Twin Builder help.

5. To start the transient simulation, do one of the following:

l On the ribbon Schematic tab, click the blue arrow Analyze icon.
l In Project Manager, right-click on TR of the design, and select Analyze.

6. When simulation is complete, you can review reports under Results in Project Manager.

Workflow for Creating, Compiling, and Simulating a

Modelica Model in Twin Builder
Modelica Example: PID Controller

This example illustrates the workflow for creating, compiling, and simulating a Modelica model of
a simple drive train controlled by a PID controller. The Modelica system diagram is shown below.
The model consists of a causal connection (including Torque, Inertias, Spring, load Torque) and
an acausal control loop (including KinemPTP, Integrator, PI, and SpeedSensor). The two blocks
kinematic_PTP and integrator are used to generate the reference speed. To check whether
the system starts in steady state, the reference speed is zero until time = 0.5 s, and then follows
the sketched trajectory. The PI block is a PI controller in which several practical important

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properties, such as anti-windup-compensation, have been added. The output of the controller is
a torque that drives a motor inertia, inertia1. The load inertia, inertia2 is attached using a
compliant spring/damper component. A constant external torque of 10 Nm is acting on the load
inertia.

This example is based on the following example project located in the Modelica Tutorial
Examples folder:
<Installation location>\Examples\Twin Builder\Modelica Tutorial\Tutorial Examples\Blocks_PID_
[Link]

PID Controller Example Workflow

In this example, we will create a Modelica PID P2P model, and analyze its performance in the
Twin Builder environment. The following steps outline the process for accomplishing these
goals.
l Add a new project and Modelica Model in Twin Builder.
l Place the Modelica components for the new model into the Diagram Editor.
l Connect the Modelica components.
l Provide an initial equation and variable declarations.
l Assign the various component properties.
l Compile and update the Twin Builder project.
l Add the Modelica component to the Twin Builder Schematic.
l Define outputs and Create Reports for the simulation results.
l Set up and run a Transient analysis.

Adding a New Project and Modelica Model in Twin Builder

1. Select File > New to create a new project in Twin Builder. You can rename the project by
right-clicking the project icon in the Program Manager, and selecting Rename from the
context menu.

2. Create a new Modelica model by doing one of the following:

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l Select Twin Builder > Add Model.

l Press Ctrl+Shift+M.
l In the Program Manager Definitions folder, right-click Models folder and select
Add Definition.

3. Select Modelica as the Type and enter a Name for the new model.

The Modelica environment is displayed, with the Modelica libraries appearing in the
Component Libraries window on the right.

Next, you will place the Modelica components that are needed for the new model into the
Diagram Editor.

Placing Modelica Components for a New Model

All of the required components for the PID Controller example can be found in the Modelica
library in the locations shown in the following table.

Component Instance Location in Modelica Library

KinemPTP Modelica/Blocks/Sources/KinematicPTP
Integrator Modelica/Blocks/Continuous/Integrator
PI Modelica/Blocks/Continuous/LimPID
Torque Modelica/Mechanics/Rotational/Sources/Torque
Inertia1, Inertia2 Modelica/Mechanics/Rotational/Components/Inertia
Spring Modelica/Mechanics/Rotational/Components/SpringDamper
loadTorque Modelica/Mechanics/Rotational/Sources/ConstantTorque
SpeedSensor Modelica/Mechanics/Rotational/Sensors/SpeedSensor

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1. Locate each of the components in the library.

2. Drag and drop the components into Diagram Editor in the Modelica Environment,
arranging them as shown in the figure below. (Connections will be added later.)

3. You can change the instance names for the components by clicking on the component to
display its Properties window. You can enter the desired instanceName in the associated
Value field on the Properties tab
4. Press Esc to complete each action.

Next, you will add connections between the various components.

Connecting Modelica PID Controller Components

To connect the components for the PID Controller as shown in the diagram below:

1. Click on an input or output pin of one of the components and connect it to the desired pin
of another component.
2. Repeat for each connection.

Note More graphic options are available in a context menu by right-clicking on a component,
as shown below. For more information on these options refer to the Diagram Editor
section in the Twin Builder help.

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Next, you will add an initial equation and declare a variable for the PID Controller model.

Adding an Initial Equation and Variable Declaration to the PID Controller

For this example, an initial equation is needed for spring initialization, and a drive angle variable
declared.

Initial Equation

1. For the initial equation, on the Twin Builder Modelica tab, click the Equations icon to open
the Edit Model dialog box.

2. Select Initial Equation, then click the button in the upper right of the dialog to open

the Equation editor, and enter the equation:

der(Spring.w_rel) = 0;

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3. Click OK to close the dialog box, adding the equation to the Edit Model dialog box.

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4. Click OK to close the Edit Model dialog box. The Overwrite Model Text dialog
boxdisplays.

5. Click Yes, overwrite from diagram to generate the equation and add it to the model text.

Variable Declaration

1. To create a new variable for the real parameter driveAngle, on the Twin Builder Modelica
tab, click the Variables icon to open the Edit Model dialog box.

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2. Click the button in the upper right of the dialog to open the Edit Variable dialog box,

and enter the settings as shown below.

3. Click OK to close the dialog box, adding the variable to the Edit Model dialog box.

4. Click OK to close the Edit Model dialog box. The Overwrite Model Text dialog box
displays.

5. Click Yes, overwrite from diagram to add the variable declaration to the model text.

Next, you will set up properties for the PID Controller model.

Setting Up Model Properties for the PID Controller

The model properties for the components used in this example are summarized in the following
table.

Component Instance Properties

KinemPTP deltaq = {driveAngle}

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Component Instance Properties

qd_max = {1}

qdd_max = {1}

startTime = 0.5
Integrator Use the default values.
controllerType = [Link]

Ti = 0.1

yMax = 12

wp = 1
PI
k = 100

limitsAtInit = false

Ni = 0.1

initType = [Link]
Torque Modelica/Mechanics/Rotational/Sources/Torque
J=1

Inertia1 phi(fixed = true,start = 0)

a(fixed = true,start = 0)
Inertia2 J=2
c = 1e4
Spring
d = 100
loadTorque tau_constant = 10
SpeedSensor Use the default values.

To display the editable parameters and properties of a component:

1. Click the model to open the model’s Properties window.

For example, to set properties for the KinemPTP component in the Diagram Editor:

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1. Click on the KinemPTP component to display its Properties window.

2. On the General tab, per the information in the above table, enter {driveAngle} for the
deltaq property; {1} for the qd_max and qdd_max properties; and 0.5 for startTime.
nout remains at its default value of 1. No changes are needed on the Subcircuit tab. The
Properties tab allows you to set the name of the component instance.

Next, you will compile and update the project.

Compiling and Updating the PID Controller Project

A model created or edited using the Diagram Editor can be saved and used in the project only
after the model text has been updated. When you have completed the Modelica model, it is
ready to be compiled and added to the Twin Builder project as a component. To do this:

1. Click Compile & Update Project on the ribbon Modelica tab as shown below.

The Overwrite model text dialog box appears.

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Note This same dialog box appears when you switch to the SimModel tab to view the
Modelica model text. You can choose either to overwrite from the diagram, or to
use the current model text. The latter choice won’t apply any changes made in the
diagram since the most recent save or compile.

2. For the PID Controller example, all the editing has been completed in the diagram, so
select Yes, overwrite from diagram. The model is compiled. (This may take several
seconds.)

3. Following the compile operation, you can select interfaces for the PID or just accept the
default set of preselected interfaces.

4. When finished selecting interfaces, click Apply Changes to close the dialog box and
apply the changes to the PID Controller model. The Update Components dialog box
appears with both the PID model and component selected for import into Twin Builder.

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5. Click OK to complete the update and import the PID Controller model and component into
Twin Builder.

The Modelica PID Controller component is now ready to use in a Twin Builder design. You can
find the Modelica component in the Project Manager > Definitions > Components folder, as
shown below.

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Next, you will add the component to a Twin Builder schematic.

Adding the PID Controller Component to a Twin Builder Schematic

When Modelica PID Controller component is ready to use in a Twin Builder design, you can find
the component in the Project Manager > Definitions > Components folder, as shown below.

1. To open the schematic editor for a design, in the Project Manager window, find the project
in which the Modelica component definition is located, then double-click the icon for an
existing design to open the schematic editor.

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2. Locate the Modelica PID controller component in the Project

Manager > Definitions > Components folder, then drag and place it in the design
schematic, as shown below.

Note If you need to look inside or modify the Modelica model, do one of the following to
open the model again in the Modelica environment:
l In the schematic editor, right-click the Modelica component and select Edit
Model.
l In the Project Manager, find the model in Definitions > Models folder, then
right-click the model icon and select Edit Model.

Any change made in the Modelica environment will need to be compiled and
updated to the project again.

Because the entire PID controller system is built inside the Modelica component, the Twin
Builder design is now complete and ready to analyze.

Next, you will define outputs and create reports for simulation results.

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Defining Outputs and Creating Reports for the PID Controller

When Modelica PID Controller component is ready to use in a Twin Builder design, you can find
the component in the Project Manager > Definitions > Components folder.

1. To create reports or graphical representations of simulation results, you must first define
outputs in the Output dialog to make them available for plotting. This can be done by
clicking on Output Dialog in the Schematic tab of the desktop ribbon. For this example,
the following outputs are selected as shown below:
l Case1PID1.Inertia1_a
l Case1PID1.Inertia1_b
l Case1PID1.loadTorque_phi
l Case1PID1.loadTorque_tau
l Case1PID1.PI_y
l Case1PID1.SpeedSensor_w
l Case1PID1.Spring_lossPower
l Case1PID1.KinemPTP_y_1_

Refer to Setting the Outputs for Simulation in the Twin Builder help for more information.

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2. In the Project Manager, you can then right-click on Results and choose Create Standard
Report to add various types of reports for the design being simulated.

The outputs you set in the Output dialog box will be available in the Report dialog boxes
for plotting. For details on the various ways for viewing simulation results, see Generating
Reports and Postprocessing in the Twin Builder help.

Next, you will set up and run a transient analysis to generate PID Controller simulation results.

Setting Up and Running a Transient Analysis for the PID Controller

In this example, we would like to simulate the time-domain response of the PID Controller
system. This requires that a transient analysis needs to be performed on the design. By default,
a transient analysis, TR, is created for the design. You can find it in the Project Manager under
Analysis of the design.

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1. Double-click on TR to set up end time and the desired time step for the simulation.

2. For this example, set End Time to 4s, Min Time Step to 100us, and keep Max Step Time
as the default 1 ms. For more details about transient analysis, see Transient Analysis
Setup in the Twin Builder help.

3. To start the simulation, run the transient analysis by doing one of the following:
l On the desktop ribbon, Schematic tab, click the Analyze icon.
l In the Project Manager, right click on TR of the design, then select Analyze.

Below are sample reports of the simulation results for the design.

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3 - Case Studies
The following examples describe the use of multiple Modelica model architectures for different
levels of complexity, different modeling styles, and different behavior.
l Mechanics Example: Heat Losses
l Fluids Example: Controlled Tanks
l Thermal Example: Parallel Pump Drop Out
l Magnetic Example: SMPM Inverter MultiPhase
l Electrical Example: AIMC with Losses
l Simple Motor Power Train

Mechanics Example: Heat Losses

This model demonstrates how to model the dissipated power of a drive train. In this example, the
heat Ports of all components are enabled and connected via a convection element to the
environment. The total heat flow generated by the elements of the drive train, and transported to
the environment, is present in variable [Link].

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This example is based on the following example project located in the Modelica Tutorial
Examples folder:

<Installation location>\Examples\Twin Builder\Modelica Tutorial\Tutorial Examples\Heat_losses.aedt

Heat Losses Example Workflow

In this example, we will create a Modelica heat loss model and analyze its performance in Twin
Builder environment. The following steps outline the process for accomplishing these goals.
l Add a new project and Modelica Model in Twin Builder.
l Place the Modelica components for the Heat Losses model into the Diagram Editor.
l Connect the Modelica Heat Losses components.
l Assign the various component properties.
l Compile and update the Twin Builder project.
l Add the Modelica component to the Twin Builder Schematic.
l Define outputs and Create Reports for the Heat Losses simulation results.
l Set up and run a Transient analysis for the Heat Losses design.

Adding a New Project and Modelica Model in Twin Builder

1. Select File > New to create a new project in Twin Builder. You can rename the project by
right-clicking the project icon in the Program Manager, and selecting Rename from the
context menu.

2. Create a new Modelica model by doing one of the following:

l Select Twin Builder > Add Model.
l Press Ctrl+Shift+M.
l In the Program Manager Definitions folder, right-click the Models folder and select
Add Definition.

3. Select Modelica as the Type and enter a Name for the new model.

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The Modelica environment is displayed, with the Modelica libraries appearing in the
Component Libraries window on the right.

Next, you will place the Modelica components that are needed for the new model into the
Diagram Editor.

Placing Modelica Components for the Heat Losses Model

All of the required components for the Heat Losses example can be found in the Modelica
library in the locations shown in the following table.

Component Instance Location in Library

sine, sine2 Modelica/Blocks/Sources/Sine
const Modelica/Blocks/Sources/Constant
spring3 Modelica/Mechanics/Rotational/Components/Spring
inertia 1-6 Modelica/Mechanics/Rotational/Components/Inertia
torque Modelica/Mechanics/Rotational/Sources/Torque
springDamper Modelica/Mechanics/Rotational/Components/SpringDamper
elastoBacklash Modelica/Mechanics/Rotational/Components/ElastoBacklash
bearingFriction Modelica/Mechanics/Rotational/Components/BearingFriction
damper Modelica/Mechanics/Rotational/Components/Damper
fixed Modelica/Mechanics/Rotational/Components/Fixed
lossyGear Modelica/Mechanics/Rotational/Components/LossyGear
clutch Modelica/Mechanics/Rotational/Components/Clutch
oneWayClutch Modelica/Mechanics/Rotational/Components/OneWayClutch
brake Modelica/Mechanics/Rotational/Components/Brake
convection Modelica/Thermal/HeatTransfer/Components/Convection
TAmbient Modelica/Thermal/HeatTransfer/Celsius/FixedTemperature

1. Locate each of the components in the library.

2. Drag and drop the components into the Diagram Editor in the Modelica Environment,
arranging them as shown in the figure below. Press Esc after placing each component to
stop the placement action. (Connections will be added later.)

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3. You can change the instance names for a components by clicking on the component to
display its Properties window. You can enter the desired instanceName in the associated
Value field on the Properties tab
4. Press Esc to complete each action.

Next, you will add connections between the various Heat Losses components.

Connecting Modelica Heat Losses Components

To connect the components for the Heat Losses example as shown in the diagram below:

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1. Click on an input or output pin of one of the components and connect it to the desired pin
of another component.
2. Repeat for each connection.

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Next, you will set up model properties for the Heat Losses example.

Setting Up Model Properties for the Heat Losses Example

The model properties for the components used in this example are summarized in the following
table.

Component Instance Properties

amplitude = 20
sine
freqHz = 5
amplitude = 1

freqHz = 0.2

sine2 phase = 0

offset = 0

startTime = 0
const k = 20
torque
convection
fixed
TAmbient T = 25
inertia 1 J=2

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Component Instance Properties

phi(start = 0)

w(start = 0)
J=2

inertia 2 - 4 phi(fixed = true,start = 0)

w(fixed = true,start = 0)
inertia 5 6 J=2
d = 10

damper phi_nominal = 1e-4

useHeatPort = true
c = 1e4

d = 20

phi_rel0 = 0

phi_nominal = 1e-4
springDamper
useHeatPort = true

phi_rel(start = 0)

w_rel(start = 0)

a_rel(start = 0)
c = 1e5

d = 100

b = 0.001

elastoBacklash phi_rel0 = 0

useHeatPort = true

phi_nominal = 1e-4

w_rel(start = 0)
tau_pos = [0, 1]

peak = 1
bearingFriction
useHeatPort = true

w_small = 1e10

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Component Instance Properties

c = 1e4
spring3
phi_rel0 = 0
ratio = 2

lossTable = [0, 0.8, 0.8, 1, 1; 1, 0.7, 0.7, 2, 2]

useHeatPort = true

Unknown = 3
lossyGear
Free = 2

Forward = 1

Stuck = 0

Backward = -1
mue_pos = [0, 0.5]

peak = 1

cgeo =1

fn_max = 10

clutch phi_nominal = 1e-4

useHeatPort = true

w_small = 1e10

phi_rel(fixed = true)

w_rel(fixed = true)
mue_pos = [0, 0.5]

peak = 1

cgeo = 1

fn_max = 1

oneWayClutch useHeatPort = true

phi_nominal = 1e-4

w_small = 1e10

phi_rel(fixed = true)

w_rel(fixed = true,start = 0)

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Component Instance Properties

mue_pos = [0, 0.5]

peak = 1

cgeo = 1
brake
fn_max = 2

w_small = 1e10

useHeatPort = true

To display the editable parameters and properties of a component:

1. Click the model to open the model’s Properties window.

For example, to set properties for the Spring3 component in the Diagram Editor:

1. Click on the Spring3 component to display its Properties window.

2. On the General tab, per the information in the above table, enter 1e4 for the cproperty;
and 0 for phi_rel0. No changes are needed on the other tabs. The Properties tab allows
you to set the name of the component instance.

Next, you will compile and update the project.

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Compiling and Updating the Heat Losses Project

1. Click Compile & Update Project on the ribbon Modelica tab as shown below.

The Overwrite model text dialog is displayed.

Note This same dialog is also displayed whenever you switch to the SimModel tab to
view the Modelica model text. You can choose either to overwrite from the
diagram, or to use the current model text. The latter choice won’t apply any
changes made in the diagram since the most recent save or compile.

2. For Heat Losses example, all the editing has been completed in the diagram, so select
Yes, overwrite from diagram. The model is compiled. (This may take several seconds.)

3. Following the compile operation, you can select interfaces for the Heat Losses model, or
just accept the default set of preselected interfaces.

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4. When finished selecting interfaces, click Apply Changes to close the dialog and apply the
changes to the Heat Losses model. The Update Components dialog is displayed with
both the Heat Losses model and component selected for import into Twin Builder.

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5. Click OK to complete the update and import the Heat Losses model and component into
Twin Builder.

The Modelica Heat Losses component is now ready to use in a Twin Builder design. You can
find the Modelica component in the Project Manager > Definitions > Components folder, as
shown below.

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Next, you will add the component to a Twin Builder schematic.

Adding the Heat Losses Component to a Twin Builder Schematic

When Modelica Heat Losses component is ready to use in a Twin Builder design, you can find
the component in the Project Manager > Definitions > Components folder, as shown below.

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2. Locate the Modelica Heatlosses component in the Project

Manager > Definitions > Components folder, then drag and place it in the design
schematic, as shown below.

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Any change made in the Modelica environment will need to be compiled and
updated to the project again.

Because the entire PID controller system is built inside the Modelica component, the Twin
Builder design is now complete and ready to analyze.

Next, you will define outputs and create reports for simulation results.

Defining Outputs and Creating Reports for the Heat Losses Design
When Modelica PID Controller component is ready to use in a Twin Builder design, you can find
the component in the Project Manager > Definitions > Components folder, as shown below.

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2. In the Project Manager, you can then right-click on Results and choose Create Standard
Report to add various types of reports for the design being simulated.

Next, you will set up and run a transient analysis to generate PID Controller simulation results.

Setting Up and Running a Transient Analysis for the Heat Losses Design
In this example, we would like to simulate the time-domain response of the Heat Losses system.
This requires that a transient analysis needs to be performed on the design. By default, a

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transient analysis, TR, is created for the design. You can find it in the Project Manager under
Analysis of the design.

1. Double-click on TR to set up end time and the desired time step for the simulation.

2. For this example, set End Time to 1s, Min Time Step to 10us, and keep Max Step Time
as the default 1 ms. For more details about transient analysis, please refer to Transient
Analysis Setup in the Twin Builder help.

Below are sample reports of the simulation results.

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Fluids Example: Controlled Tanks

This example demonstrates a tank filling/emptying system with a controller as shown below.

In this case, the two tanks are filled and emptied by following scheme:

1. Valve 1 is opened and tank 1 is filled.

2. When tank 1 reaches its fill level limit, valve 1 is closed.

3. After a waiting time, valve 2 is opened and the fluid flows from tank 1 into tank 2.

4. When tank 1 reaches its minimum level, valve 2 is closed.

5. After a waiting time, valve 3 is opened and the fluid flows out of tank 2.

6. When tank 2 reaches its minimum level, valve 3 is closed.

The above process can be influenced by three buttons:

l Button “start” starts the above process. When this button is pressed after a "stop" or "shut"
operation, the process operation continues.

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l Button “stop” stops the above process by closing all valves. Then, the controller waits for
further input (either "start" or "shut" operation).
l 3)Button “shut” is used to shut down the process, by emptying at once both tanks by
opening valve 2 and valve 3. When this is achieved, the process goes back to its start
configuration where all 3 valves are closed. Clicking on "start", restarts the process.

The example uses the following button settings:

l Button start pressed at 20 s;
l Button stop pressed at 220 s;
l Button start pressed at 280 s;
l Button stop pressed at 650 s;
l Button shut pressed at 700 s;
l Simulate for 900 s.

This example is based on the following example project located in the Modelica Tutorial
Examples folder:
<Installation location>\Examples\Twin Builder\Modelica Tutorial\Tutorial Examples\[Link]

Controlled Tanks Example Workflow

In this example, we will create a Modelica controlled tanks model and analyze its performance in
Twin Builder environment. The following steps outline the process for accomplishing these
goals.
l Add a new project and Modelica Model in Twin Builder.
l Place the Modelica components for the Controlled Tanks model into the Diagram Editor.
l Connect the Modelica Controlled Tanks components.
l Declare a fluid medium for the Controlled Tanks model.
l Assign the various component properties.
l Compile and update the Twin Builder project.
l Add the Modelica component to the Twin Builder Schematic.
l Define outputs and Create Reports for the Controlled Tanks simulation results.
l Set up and run a Transient analysis for the Controlled Tanks design.

Adding a New Project and Modelica Model in Twin Builder

1. Select File > New to create a new project in Twin Builder. You can rename the project by
right-clicking the project icon in the Program Manager, and selecting Rename from the
context menu.

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2. Create a new Modelica model by doing one of the following:

l Select Twin Builder > Add Model.
l Press Ctrl+Shift+M.
l In the Program Manager Definitions folder, right-click on the Models folder and
select Add Definition.

3. Select Modelica as the Type and enter a Name for the new model.

The Modelica environment is displayed, with the Modelica libraries appearing in the
Component Libraries window on the right.

Next, you will place the Modelica components that are needed for the new model into the
Diagram Editor.

Placing Modelica Components for the Controlled Tanks Model

All of the required components for the Controlled Tanks example can be found in the Modelica
library in the locations shown in the following table.

Component
Location in Library
Instance
source Modelica/Fluid/Sources/Boundary_pT
tank1, tank2 Modelica/Fluid/Vessels/OpenTank
valve1, valve2,
Modelica/Fluid/Valve/ValveDiscrete
valve3
tankController Modelica/Fluid/Examples/ControlledTankSystem/Utilities/TankController
ambient1 Modelica/Fluid/Sources/Boundary_pT
system Modelica/Fluid/System
start Modelica/Fluid/Examples/ControlledTankSystem/Utilities/RadioButton
stop Modelica/Fluid/Examples/ControlledTankSystem/Utilities/RadioButton
shut Modelica/Fluid/Examples/ControlledTankSystem/Utilities/RadioButton

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Component
Location in Library
Instance
level1, level2 Modelica/Blocks/Sources/RealExpression

1. Locate each of the components in the library.

Next, you will add connections between the various Controlled Tanks components.

Connecting Modelica Controlled Tanks Components

To connect the components for the Controlled Tanks example as shown in the diagram below:

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1. Click on an input or output pin of one of the components and connect it to the desired pin
of another component.
2. Repeat for each connection.

3. An additional step is required to set the vector port indexes for tank1 and tank2.

a. For tank1, we want to have [Link][1] connect to valve1.port_b, and [Link]

[2] connect to valve2.port_a. To specify the connection in diagram editor, click on
connection line between valve1 and tank1, and set ArrayIndexOfConnection2 to
1 in the Properties window. Similarly, click on connection line between valve2 and
tank1, and set ArrayIndexOfConnection2 to 2.

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b. Similarly, for the connections between valve2 and tank2, set

ArrayIndexOfConnection2 to 1; and between valve3 and tank2, set
ArrayIndexOfConnection2 to 2.

The above valve-to-tank settings generate the following lines in the Modelica model
text code:
connect(valve1.port_b, [Link][1]);

connect(valve2.port_a, [Link][2]);

connect(valve2.port_b, [Link][1]);

connect(valve3.port_a, [Link][2]);

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Next, you will add a declaration of a fluid medium variable for the model.

Declaring a Fluid Medium Variable for the Controlled Tanks Model

When modeling a fluid system in Modelica, the fluid medium is an important property to set for all
models in the system. Models from the [Link] library are implemented to use a medium
defined in the [Link] library, so you can declare a Medium package type variable
from the [Link] library, then reuse it for all Medium property settings.

For the Controlled Tanks example, the medium is water. Seven models in the example have a
Medium property.

1. To declare the Medium to be water, select any one of the Controlled Tanks models that
have the Medium property, for example, valve1.

2. In the Properties dialog box General tab, select Create Variable from the dropdown list
in the Value column.

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The Add Variable dialog box appears.

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3. Click the [...] button for the Value field and select ConstantPropertyLiquidWater in the
Modelica > Media > Water library. Select package in the Type drop-down menu.

4. Click OK. The declaration of package Medium is created in Modelica model text:
//Declaration(s)
package Medium =
[Link]( );

Now that Medium is defined, it is available for selection in the remaining six models in the
Controlled Tanks model that have the Medium property by choosing Select Variable,
then choosing Medium in the Select Variable dialog box.

5. To change the fluid medium in the system, click Modelica > Variables on the ribbon. The
Edit Model dialog box appears.
6. Click Model > Variable in the directory tree. Select the declared Medium value and edit
as desired.

Next, you will set up properties for the Controlled Tanks model.

Setting Up Model Properties for the Controlled Tanks Example

The model properties for the components used in this example are summarized in the following
table.

Component Instance Properties

p = 25*101325

source nPorts = 1

redeclare package Medium = Medium

height = 4

crossArea = 6

level_start = 0.05

Medium = Medium

nPorts = 2
tank 1 Re_turbulent = 100.000000

portsData = {[Link]
(diameter=0.2, height=4, zeta_out=0, zeta_
in=1),[Link]
(diameter=0.2, height=0, zeta_out=0, zeta_in=1)}

Note: portsData is an array of records that defines diameter and port

level of the bottom and side connectors.

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Component Instance Properties

height = 5

crossArea = 6

level_start = 0.05

Medium = Medium

nPorts = 2
tank 2 Re_turbulent = 100.000000

portsData = {[Link]
(diameter=0.2, height=5, zeta_out=0, zeta_
in=1),[Link]
(diameter=0.2, height=0, zeta_out=0,zeta_in=1)}

Note: portsData is an array of records that defines diameter and port

level of the bottom and side connectors.
dp_noninal = 1e5

valve 1 m_flow_nominal = 40

Medium = Medium
dp_noninal = 1

valve 2 m_flow_nominal = 100

Medium = Medium
dp_noninal = 1

valve 3 m_flow_nominal = 10

Medium = Medium
maxLevel = 0.9*4

tankController minLevel = 0.01

waitTime = 50
nPorts = 1
ambient1
Medium = Medium
system energyDynamics = [Link]
button Time Table = {20, 280}
start
reset = {[Link], [Link]}
stop button Time Table = {220, 650}

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Component Instance Properties

reset = {[Link], [Link]}
button Time Table = {700}
shut
reset = {[Link], [Link]}
level 1 y = [Link]
level 2 y = [Link]

To display the editable parameters and properties of a component, click the model to open its
Properties dialog box.

For example, to set properties for the valve1 component in the Diagram Editor:

1. Click on the valve1 component to open its Properties dialog box.

2. Click the General tab. Using the information in the above table, enter 1e5 for the dp_
nominalproperty and 40 for m_flow_nominal. To edit the Medium property, choose
Select Variable from the drop-down list. The Select Variable dialog opens. Select
Medium for the Medium property. No changes are needed on the other tabs. Note that
you can set the name of the component instance in the Properties tab allows.

Next, you will compile and update the project.

Compiling and Updating the Controlled Tanks Project

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1. Click Compile & Update Project on the ribbon Modelica tab as shown below.

The Overwrite model text dialog box appears.

2. For the Controlled Tanks example, all the editing has been completed in the diagram, so
select Yes, overwrite from diagram. The model is compiled. This may take several
seconds.

3. Following the compile operation, you can select interfaces for the Controlled Tanks model.
Make sure to select outputs that need to be plotted and parameters that need external
input. In this example, you should at least select start->on, tank1->level, and tank2-
>level, in order to generate simulation reports as demonstrated later in this tutorial..

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4. When finished selecting interfaces, click Apply Changes to close the dialog and apply the
changes to the Controlled Tanks model. The Update Components dialog is displayed
with both the Controlled Tanks model and component selected for import into Twin
Builder.

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5. Click OK to complete the update and import the Controlled Tanks model and component
into Twin Builder.

The Modelica Heat Losses component is now ready to use in a Twin Builder design. You can
find the Modelica component in the Project Manager > Definitions > Components folder, as
shown below.

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Next, you will add the component to a Twin Builder schematic.

Adding the Controlled Tanks Component to a Twin Builder Schematic

When the Modelica Controlled Tanks component is ready to use in a Twin Builder design, you
can find the component in the Project Manager > Definitions > Components folder, as shown
below.

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2. Locate the Modelica ControlledTanks component in the Project

Manager > Definitions > Components folder, then drag and place it in the design
schematic, as shown below.

Any change made in the Modelica environment will need to be compiled and
updated to the project again.

Because the entire Controlled Tanks system is built inside the Modelica component, the
Twin Builder design is now complete and ready to analyze.

Next, you will define outputs and create reports for simulation results.

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Defining Outputs and Creating Reports for the Controlled Tanks Design
When the Modelica Controlled Tanks component is ready to use in a Twin Builder design, you
can find the component in the Project Manager > Definitions > Components folder.

1. To create reports or graphical representations of simulation results, you must first define
outputs in the Output dialog to make them available for plotting. This can be done by
clicking on Output Dialog in the Schematic tab of the desktop ribbon. For this example,
three outputs are selected, ControlledTanks1.start_on, ControlledTanks1.tank1_
level, and ControlledTanks1.tank2_level as shown below. Refer to Setting the Outputs
for Simulation in the Twin Builder help for more information.

If a quantity of interest inside the Modelica model is not available to select as output, go
back to Compiling and Updating the Controlled Tanks Project and check if the
quantity is selected as an interface when the Modelica model is compiled.

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2. In the Project Manager, you can then right-click on Results and choose Create Standard
Report to add various types of reports for the design being simulated.

The outputs you set in the Output dialog will be available in the Report dialogs for plotting.
For details on the various ways for viewing simulation results, see Generating Reports
and Postprocessing in the Twin Builder help.

Next, you will set up and run a transient analysis to generate Controlled Tanks simulation
results.

Setting Up and Running a Transient Analysis for the Controlled Tanks

Design
In this example, we would like to simulate the time-domain response of the Controlled Tanks
system. This requires that a transient analysis needs to be performed on the design. By default,
a transient analysis, TR, is created for the design. You can find it in the Project Manager under
Analysis of the design.

1. Double-click on TR to set up end time and the desired time step for the simulation.

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2. For this example, set End Time to 900s, Min Time Step to 100us, and Max Time Step to
10 ms. For more details about transient analysis, see Transient Analysis Setup in the Twin
Builder help.

Below is a sample report of the simulation results.

Thermal Example: Parallel Pump Drop Out

This example demonstrates a thermal system in which two prescribed heat sources dissipate
their heat through thermal conductors via coolant flows.

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The coolant flow is taken from an ambient source, and is driven by a pump with prescribed
constant flow rate. The coolant flow is then split into two flows connected to the two heat
sources, and afterwords merged. The pump is set up to run for 0.2s; then is shut down (using a
ramp of 0.2s) for 0.2s; then started again (using a ramp of 0.2s).

This example is based on the following example project located in the Modelica Tutorial
Examples folder:
<Installation location>\Examples\Twin Builder\Modelica Tutorial\Tutorial
Examples\[Link]

Parallel Pump Drop Out Example Workflow

In this example, we will create a Modelica parallel pump drop out model and analyze its
performance in the Twin Builder environment. The following steps outline the process for
accomplishing these goals.
l Add a new project and Modelica Model in Twin Builder.
l Place the Modelica components for the Parallel Pump Drop Out model into the Diagram
Editor.
l Connect the Modelica Controlled Tanks components.
l Assign the various component properties.
l Compile and update the Twin Builder project.
l Add the Modelica component to the Twin Builder Schematic.

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l Define outputs and Create Reports for the Controlled Tanks simulation results.
l Set up and run a Transient analysis for the Controlled Tanks design.

Adding a New Project and Modelica Model in Twin Builder

1. Select File > New to create a new project in Twin Builder. You can rename the project by
right-clicking the project icon in the Program Manager, and selecting Rename from the
context menu.

2. Create a new Modelica model by doing one of the following:

l Select Twin Builder > Add Model.
l Press Ctrl+Shift+M.
l In the Program Manager Definitions folder, right-click the Models folder and select
Add Definition.

3. Select Modelica as the Type and enter a Name for the new model.

The Modelica environment is displayed, with the Modelica libraries appearing in the
Component Libraries window on the right.

Next, you will place the Modelica components that are needed for the new model into the
Diagram Editor.

Placing Modelica Components for the Parallel Pump Drop Out Model
All of the required components for the Controlled Tanks example can be found in the Modelica
library in the locations shown in the following table.

Component Instance Location in Library

heatFlow1, heatFlow2 Modelica/Blocks/Sources/Constant
prescribedHeatFlow,
Modelica/Thermal/HeatTransfer/Sources/PrescribedHeatFlow
prescribedHeatFlow2
heatCapacitor1,
Modelica/Thermal/HeatTransfer/Components/HeatCapacitor
heatCapacitor2

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Component Instance Location in Library

convection1, convection2 Modelica/Thermal/HeatTransfer/Components/Convection
thermalConductance1,
Modelica/Blocks/Sources/Constant
thermalConductance2
volumeFlow Modelica/Thermal/FluidHeatFlow/Examples/Utilities/DoubleRamp
ambient1, ambient2 Modelica/Thermal/FluidHeatFlow/Sources/Ambient
pump Modelica/Thermal/FluidHeatFlow/Sources/VolumeFlow
pipe1, pipe2 Modelica/Thermal/FluidHeatFlow/Components/HeatedPipe
pipe3 Modelica/Thermal/FluidHeatFlow/Components/IsolatedPipe

1. Locate each of the components in the library.

Next, you will add connections between the various Parallel Pump Drop Out components.

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Connecting Modelica Parallel Pump Drop Out Components

To connect the components for the Parallel Pump Drop Out example as shown in the diagram
below:

1. Click on an input or output pin of one of the components and connect it to the desired pin
of another component.
2. Repeat for each connection.

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Next, you will set up model properties for the Parallel Pump Drop Out example.

Setting Up Model Properties for the Parallel Pump Drop Out Example
The model properties for the components used in this example are summarized in the following
table.

Component Instance Properties

heatFlow1 k=5
heatFlow2 k = 10
prescribedHeatFlow1 default values
prescribedHeatFlow2 default values
C = 0.1
heatCapacitor1
T(fixed = true)
C = 0.1
heatCapacitor2
T(fixed = true)
convection1 default values
convection2 default values
thermalConductance1 k=1
thermalConductance2 k=1

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Component Instance Properties

volumeFlow default values
constantAmbientPressure = 0
ambient1
constantAmbientTemperature = 293.15
constantAmbientPressure = 0
ambient2
constantAmbientTemperature = 293.15
useVolumeFlowInput = true

constantVolumeFlow = 1

m=0
pump
T0 = 293.15

T0fixed = false

tapT = 1
h_g = 0

m = 0.1

T0 = 293.15

T0fixed = true
pipe1
V_flowLaminar = 0.1

dpLaminar = 0.1

V_flowNominal = 1

dpNominal = 1
h_g = 0

m = 0.1

T0 = 293.15

T0fixed = true
pipe2
V_flowLaminar = 0.1

dpLaminar = 0.1

V_flowNominal = 1

dpNominal = 1
pipe3 h_g = 0

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Component Instance Properties

m = 0.1

T0 = 293.15

T0fixed = true

V_flowLaminar = 0.1

dpLaminar = 0.1

V_flowNominal = 1

dpNominal = 1

To display the editable parameters and properties of a component:

1. Click the model to open the model’s Properties window.

For example, to set properties for the Spring3 component in the Diagram Editor:

1. Click the pump component to display its Properties window.

2. On the General tab, per the information in the above table, select true for the
useVolumeFlowInput property; 1 for constantVolumeFlow, 0 for m, 293.15 for T0,
false for T0fixed, and 1 for tapT. No changes are needed on the other tabs. The
Properties tab allows you to set the name of the component instance.

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Next, you will compile and update the project.

Compiling and Updating the Parallel Pump Drop Out Project

1. Click Compile & Update Project on the ribbon Modelica tab as shown below.

The Overwrite model text dialog box appears.

2. For Parallel Pump Drop Out example, all the editing has been completed in the diagram,
so select Yes, overwrite from diagram. The model is compiled. This may take several
seconds.

3. Following the compile operation, you can select interfaces for the Parallel Pump Drop Out
model, or just accept the default set of preselected interfaces.

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4. When finished selecting interfaces, click Apply Changes to close the dialog and apply the
changes to the Parallel Pump Drop Out model. The Update Components dialog box
appears with both the Parallel Pump Drop Out model and component selected for import
into Twin Builder.

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5. Click OK to complete the update and import the Parallel Pump Drop Out model and
component into Twin Builder.

The Modelica Parallel Pump Drop Out component is now ready to use in a Twin Builder design.
You can find the Modelica component in the Project Manager > Definitions > Components
folder, as shown below.

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Next, you will add the component to a Twin Builder schematic.

Adding the Parallel Pump Drop Out Component to a Twin Builder

Schematic
When the Modelica Parallel Pump Drop Out component is ready to use in a Twin Builder design,
you can find the component in the Project Manager > Definitions > Components folder, as
shown below.

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2. Locate the Modelica ParallelPumpDropOut component in the Project

Manager > Definitions > Components folder, then drag and place it in the design
schematic, as shown below.

Any change made in the Modelica environment will need to be compiled and
updated to the project again.

Because the entire PID controller system is built inside the Modelica component, the Twin
Builder design is now complete and ready to analyze.

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Next, you will define outputs and create reports for simulation results.

Defining Outputs and Creating Reports for the Parallel Pump Drop Out
Design
When Modelica Parallel Pump drop Out component is ready to use in a Twin Builder design, you
can find the component in the Project Manager > Definitions > Components folder, as shown
below.

1. To create reports or graphical representations of simulation results, you must first define
outputs in the Output dialog to make them available for plotting. This can be done by
clicking on Output Dialog in the Schematic tab of the desktop ribbon. For this example,
three outputs are selected, ParallelPumpDropOut1.pipe1_T,
ParallelPumpDropOut1.pipe1_T, and ParallelPumpDropOut1.pipe3_T, as shown
below. Refer to Setting the Outputs for Simulation in the Twin Builder help for more
information.

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2. In the Project Manager, you can then right-click on Results and choose Create Standard
Report to add various types of reports for the design being simulated.

Next, you will set up and run a transient analysis to generate parallel pump drop out simulation
results.

Setting Up and Running a Transient Analysis for the Parallel Pump Drop
Out Design
In this example, we would like to simulate the time-domain response of the Parallel Pump Drop
Out system. This requires that a transient analysis needs to be performed on the design. By
default, a transient analysis, TR, is created for the design. You can find it in the Project
Manager under Analysis of the design.

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1. Double-click on TR to set up end time and the desired time step for the simulation.

2. For this example, set End Time to 2s, Min Time Step to 10us, and keep Max Time Step
as the default 1 ms. For more details about transient analysis, please refer to Transient
Analysis Setup in the Twin Builder help.

Below is a sample report of the simulation results.

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Magnetics Example: SMPM Inverter MultiPhase

This example demonstrates a permanent magnet synchronous induction machine fed by an
ideal inverter.

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For this example, two equivalent permanent magnet synchronous induction motors with different
numbers of phases are modeled and compared, and their equal behavior is demonstrated. An
ideal frequency inverter is modeled using VfController and SignalVoltage. Frequency is then
raised by a ramp function, causing the permanent magnet synchronous induction motors to
start, and accelerate their respective load inertias. A load torque is applied to each motor at time
tStep.

SMPM Inverter MultiPhase Example Workflow

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In this example, we will create a Modelica SMPM Inverter MultiPhase model and analyze its
performance in the Twin Builder environment. The following steps outline the process for
accomplishing these goals.
l Add a new project and Modelica Model in Twin Builder.
l Place the Modelica components for the SMPM Inverter MultiPhase model into the
Diagram Editor.
l Connect the Modelica SMPM Inverter MultiPhase components.
l Provide an initial equation and variable declarations.
l Assign the various component properties.
l Compile and update the Twin Builder project.
l Add the Modelica component to the Twin Builder Schematic.
l Define outputs and Create Reports for the SMPM Inverter MultiPhase simulation results.
l Set up and run a Transient analysis for the SMPM Inverter MultiPhase design.

Adding a New Project and Modelica Model in Twin Builder

1. Select File > New to create a new project in Twin Builder. You can rename the project by
right-clicking the project icon in the Program Manager, and selecting Rename from the
context menu.

2. Create a new Modelica model by doing one of the following:

l Select Twin Builder > Add Model.
l Press Ctrl+Shift+M.
l In the Program Manager Definitions folder, right-click the Models folder and select
Add Definition.

3. Select Modelica as the Type and enter a Name for the new model.

The Modelica environment is displayed, with the Modelica libraries appearing in the
Component Libraries window on the right.

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Next, you will place the Modelica components that are needed for the new model into the
Diagram Editor.

Placing Modelica Components for the SMPM Inverter MultiPhase Model

All of the required components for the SMPM Inverter MultiPhase example can be found in the
Modelica library in the locations shown in the following table.

Component
Location in Library
Instance

smpmM and
Modelica/Magnetic/FundamentalWave/BasicMachines/SynchronousInducti
smpm3
onMachines/SM_PermanentMagnet
terminalBoxM
and Modelica/Electrical/Machines/Utilities/TerminalBox
terminalBox3
loadInertiaM
Modelica/Mechanics/Rotational/Components/Inertia
and loadInertia3
torqueStepM
and Modelica/Mechanics/Rotational/Sources/TorqueStep
torqueStep3
rotorAngle3 Modelica/Electrical/Machines/Sensors/RotorDisplacementAngle
Modelica/Electrical/Machines/Utilities/ParameterRecords/SM_
smpmData
PermanentMagnetData
currentRMSens
orM and
Modelica/Electrical/Machines/Sensors/CurrentQuasiRMSSensor
currentRMSens
or3
feedback Modelica/Blocks/Math/Feedback
gain Modelica/Blocks/Math/Gain
vfController and
Modelica/Electrical/Machines/Utilities/VfController
vfController3
signalVoltageM
and Modelica/Electrical/MultiPhase/Sources/SignalVoltage
signalVoltage3
ramp Modelica/Blocks/Sources/Ramp
starM and star3 Modelica/Electrical/MultiPhase/Basic/Star
groundM and
Modelica/Electrical/Analog/Basic/Ground
ground3

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1. Locate each of the components in the library.

Next, you will add connections between the various SMPM Inverter MultiPhase components.

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Connecting Modelica SMPM Inverter MultiPhase Components

To connect the components for the SMPM Inverter MultiPhase example as shown in the
diagram below:

1. Click on an input or output pin of one of the components and connect it to the desired pin
of another component.
2. Repeat for each connection.

3. An additional step is required for the connections between model instances of

vfController3 and signalVoltage3, and between vfController and signalVoltageM.
These connections are multiphase electrical vector connections that require manual
adjustment to match the array size of connectors.

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a. For the connection between vfController3 and signalVoltage3, click the

connecting wire between the components, then in the Properties window, delete the
default numbers for ArrayIndexOfConnection1 and ArrayIndexOfConnection2
and leave them empty.

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b. Similarly, \fFor the connection between vfController and signalVoltageM, click the
connecting wire between the components, then in the Properties window, delete the
default numbers for ArrayIndexOfConnection1 and ArrayIndexOfConnection2
and leave them empty.

The above valve-to-tank settings generate the following lines in the Modelica model
text code:
connect(vfController3.y, signalVoltage3.v);

connect(vfController.y, signalVoltageM.v);

Next, you will add an initial equation and declare a variable for the SMPM Inverter MultiPhase
model.

Adding an Initial Equation and Variable Declaration to the SMPM Inverter

MultiPhase Design
For this example, an initial equation is needed for each of the synchronous machines, and
several variables declared.

Initial Equation

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1. For the initial equation, on the Twin Builder Modelica tab, click the Equations icon to open
the Edit Model dialog box.

2. Select Initial Equation, then click the button in the upper right of the dialog to open

the Equation editor, and enter the equations:

[Link][1:2] = zeros(2);
[Link][1:2] = zeros(2);

3. Click OK to close the dialog box, adding the equation to the Edit Model dialog box.

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4. Click OK to close the Edit Model dialog box. The Overwrite Model Text dialog box
appears.

5. Click Yes, overwrite from diagram to generate the equation and add it to the model text.

Variable Declarations

1. To create the needed variables for this design, on the Twin Builder Modelica tab, click the
Variables icon to open the Edit Model dialog box.

2. Click the button in the upper right of the dialog box to open the Edit Variable dialog

box, and enter the settings such as for the integer parameter m3=3 shown below. (The

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Prefix, Connector, and Causality settings remain the defaults as shown.)

3. Click OK to close the dialog box, adding the variable to the Edit Model dialog box.

4. Repeat, adding the variables listed in the following table:

Variable Name Value Variability Type Type

m3 3 parameter Integer
m 5 parameter Integer
VsNominal 100 parameter [Link]
fsNominal 50 parameter [Link]
fKnee 50 parameter [Link]
tRamp 1 parameter [Link]
T_Load 181.4 parameter [Link]
tStep 1.2 parameter [Link]
J_Load 0.29 parameter [Link]

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5. Click OK to close the Edit Model dialog box. The Overwrite Model Text dialog box
appears.

6. Click Yes, overwrite from diagram to add the variable declarations to the model text.

Next, you will set up properties for the SMPM Inverter MultiPhase model.

Setting Up Model Properties for the SMPM Inverter MultiPhase Example

The model properties for the components used in this example are summarized in the following
table.

Component
Properties
Instance
m=m

Jr = [Link]

p = smpmData.p

fsNominal = [Link]

VsOpenCircuit = [Link]

TsOperational = 20

smpmM TrOperational = 20

Rs = [Link]*m/3

TsRef = [Link]

alpha20s = smpmData.alpha20s

Lssigma = [Link]*m/3

Lszero = [Link]*m/3

Lmd = [Link]*m/3

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Component
Properties
Instance
Lmq = [Link]*m/3

useDamperCage = [Link]

Lrsigmad = [Link]

Lrsigmaq = [Link]

Rrd = [Link]

Rrq = [Link]

TrRef = [Link]

alpha20r = smpmData.alpha20r

frictionParameters = [Link]

statorCoreParameters = [Link]

strayLoadParameters = [Link]

permanentMagnetLossParameters =
[Link]

NOTE: For the phiMechanical, wMechanical, and ir properties, refer to

the "Modification of variables ir, phiMechanical and wMechanical " on
page 3-68 step below.
m = m3

Jr = [Link]

p = smpmData.p

fsNominal = [Link]

VsOpenCircuit = [Link]

TsOperational = 20
Smpm3
TrOperational = 20

Rs = [Link]

TsRef = [Link]

alpha20s = smpmData.alpha20s

Lssigma = [Link]

Lszero = [Link]

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Component
Properties
Instance
Lmd = [Link]

Lmq = [Link]

useDamperCage = [Link]

Lrsigmad = [Link]

Lrsigmaq = [Link]

Rrd = [Link]

Rrq = [Link]

TrRef = [Link]

alpha20r = smpmData.alpha20r

frictionParameters = [Link]

statorCoreParameters = [Link]

strayLoadParameters = [Link]

permanentMagnetLossParameters =
[Link]

NOTE: For the phiMechanical, wMechanical, and ir properties, refer to

the "Modification of variables ir, phiMechanical and wMechanical " on
page 3-68 step below.
m=m
terminalBoxM
terminalConnection = “Y”
m = m3
terminalBox3
terminalConnection = “Y”
loadInertiaM J = J_Load
loadInertia3 J = J_Load
stepTorque = -T_Load

torqueStepM offsetTorque = 0

startTime = tStep
stepTorque = -T_Load

torqueStepM offsetTorque = 0

startTime = tStep

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Component
Properties
Instance
rotorAngle3 p = smpm3.p
smpmData Use defaults
currentRMSensorM m = m
currentRMSensor3 m = m3
feedback Use defaults
gain k = (m/m3)
m=m

orientation = -
vfController [Link](m)

VNominal = VsNominal

fNominal = fsNominalBasePhase = +[Link]/2

m = m3

orientation = -
vfController3 [Link](m3)

VNominal = VsNominal

To display the editable parameters and properties of a component:

1. Click the model to open the model’s Properties window.

2. Select the various tabs at the bottom of the Properties window to browse and find
parameters and properties you need to edit. All other properties retain their default values.
3. Enter values or select options from the table above as needed. For example, to set
properties for the vfController component in the Diagram Editor:

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a. Click on the vfController component to display its Properties window.

b. On the General tab, per the information in the above table, enter m for the m
property; VsNominal for VNominal, fsNominal for fNominal,
[Link](m) for
orientation, and +[Link]/2 for BasePhase. No other changes are
needed. The Properties tab allows you to set the name of the component instance.

Modification of variables ir, phiMechanical and wMechanical

This example requires modification of variables ir, phiMechanical and wMechanical for the
machines smpmM and smpm3. This cannot be done directly in the Properties window, but
instead requires that modifiers be added.

1. To add modifiers to smpmM, select the smpmM instance in diagram editor and on the
ribbon Modelica tab click Add Modifier (or right click on the smpmM instance and select
Add Modifier from the context menu). In the Add Modifier dialog box, add the following 3
lines:
ir(fixed=true)

wMechanical(fixed = true)

phiMechanical(fixed = true)

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2. Repeat the above to add similar modifiers to smpm3.

Next, you will compile and update the project.

Compiling and Updating the SMPM Inverter MultiPhase Project

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1. Click Compile & Update Project on the ribbon Modelica tab as shown below.

The Overwrite model text dialog box appears.

2. For SMPM Inverter MultiPhase example, all the editing has been completed in the
diagram, so select Yes, overwrite from diagram. The model is compiled. This may take
several seconds.

3. Following the compile operation, you can select interfaces for the SMPM Inverter
MultiPhase model, or just accept the default set of preselected interfaces.

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4. When finished selecting interfaces, click Apply Changes to close the dialog box and
apply the changes to the SMPM Inverter MultiPhase model. The Update Components
dialog box is displayed with both the SMPM Inverter MultiPhase model and component
selected for import into Twin Builder.

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5. Click OK to complete the update and import the SMPM Inverter MultiPhase model and
component into Twin Builder.

The Modelica SMPM Inverter MultiPhase component is now ready to use in a Twin Builder
design. You can find the Modelica component in the Project
Manager > Definitions > Components folder, as shown below.

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Next, you will add the component to a Twin Builder schematic.

Adding the SMPM Inverter MultiPhase Component to a Twin Builder

Schematic
When the Modelica SMPM Inverter MultiPhase component is ready to use in a Twin Builder
design, you can find the component in the Project Manager > Definitions > Components
folder, as shown below.

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2. Locate the Modelica SMPM_Inverter_MultiPhase component in the Project

Manager > Definitions > Components folder, then drag and place it in the design
schematic, as shown below.

Any change made in the Modelica environment will need to be compiled and
updated to the project again.

Because the entireSMPM Inverter MultiPhase system is built inside the Modelica
component, the Twin Builder design is now complete and ready to analyze.

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Next, you will define outputs and create reports for simulation results.

Defining Outputs and Creating Reports for the SMPM Inverter MultiPhase
Design
When Modelica SMPM Inverter MultiPhase component is ready to use in a Twin Builder design,
you can find the component in the Project Manager > Definitions > Components folder, as
shown below.

1. To create reports or graphical representations of simulation results, you must first define
outputs in the Output dialog box to make them available for plotting. This can be done by
clicking on Output Dialog in the Schematic tab of the desktop ribbon. For this example,
the following outputs are selected as shown below:
l SMPM_Inverter_MultiPhase1.currentRMSensor3_CurrentSensor1_
currentSensor_1_i
l SMPM_Inverter_MultiPhase1.currentRMSensor3_CurrentSensor1_
currentSensor_2_i
l SMPM_Inverter_MultiPhase1.currentRMSensor3_CurrentSensor1_
currentSensor_3_i
l SMPM_Inverter_MultiPhase1.currentRMSensorM_CurrentSensor1_
currentSensor_1_i
l SMPM_Inverter_MultiPhase1.currentRMSensorM_CurrentSensor1_
currentSensor_2_i
l SMPM_Inverter_MultiPhase1.currentRMSensorM_CurrentSensor1_
currentSensor_3_i

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l SMPM_Inverter_MultiPhase1.currentRMSensorM_CurrentSensor1_
currentSensor_4_i
l SMPM_Inverter_MultiPhase1.currentRMSensorM_CurrentSensor1_
currentSensor_5_i

See Setting the Outputs for Simulation in the Twin Builder help for more information.

2. In the Project Manager, you can then right-click on Results and choose Create Standard
Report to add various types of reports for the design being simulated.

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Next, you will set up and run a transient analysis to generate SMPM Inverter MultiPhase
simulation results.

Setting Up and Running a Transient Analysis for the SMPM Inverter

MultiPhase Design
In this example, we would like to simulate the time-domain response of the SMPM Inverter
MultiPhase system. This requires that a transient analysis needs to be performed on the design.
By default, a transient analysis, TR, is created for the design. You can find it in the Project
Manager under Analysis of the design.

1. Double-click on TR to set up end time and the desired time step for the simulation.

2. For this example, set End Time to 1.5 s, Min Time Step to 10 us, and keep Max Time
Step as the default 1 ms. For more details about transient analysis, see Transient
Analysis Setup in the Twin Builder help.

3. To start the simulation, run the transient analysis by doing one of the following:

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l On the desktop ribbon, Schematic tab, click the Analyze icon.

l In the Project Manager, right click on TR of the design, then select Analyze.

Below are sample reports of the simulation results for both 3-phase and 5-phase currents.

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Electrical Example: AIMC with Losses

This example demonstrates an asynchronous squirrel cage induction machine and its
characteristics, including losses.

Machine parameters are those for a standard 18.5 kW, 400 V, 50 Hz motor. For the first 5
seconds of simulation time, the machine is started at a nominal speed and flux is built up in the
machine. Then, for the next 5 seconds, a load ramp is applied.

This example is based on the following example project located in the Modelica Tutorial
Examples folder:
<Installation location>\Examples\Twin Builder\Modelica Tutorial\Tutorial Examples\[Link]

AIMC Example Workflow

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In this example, we will create a Modelica AIMC (asynchronous squirrel cage induction machine
with losses) model and analyze its performance in the Twin Builder environment. The following
steps outline the process for accomplishing these goals.
l Add a new project and Modelica Model in Twin Builder.
l Place the Modelica components for the AIMC model into the Diagram Editor.
l Connect the Modelica AIMC components.
l Provide initial equations and variable declarations.
l Assign the various component properties.
l Compile and update the Twin Builder project.
l Add the Modelica component to the Twin Builder Schematic.
l Define outputs and Create Reports for the AIMC simulation results.
l Set up and run a Transient analysis for the AIMC design.

Adding a New Project and Modelica Model in Twin Builder

1. Select File > New to create a new project in Twin Builder. You can rename the project by
right-clicking the project icon in the Program Manager, and selecting Rename from the
context menu.

2. Create a new Modelica model by doing one of the following:

l Select Twin Builder > Add Model.
l Press Ctrl+Shift+M.
l In the Program Manager Definitions folder, right-click on the Models folder and
select Add Definition.

3. Select Modelica as the Type and enter a Name for the new model.

The Modelica environment is displayed, with the Modelica libraries appearing in the
Component Libraries window on the right.

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Next, you will place the Modelica components that are needed for the new model into the
Diagram Editor.

Placing Modelica Components for the AIMC Model

All of the required components for the AIMC example can be found in the Modelica library in the
locations shown in the following table.

Component
Location in Library
Instance
terminalBox Modelica/Electrical/Machines/Utilities/TerminalBox

aimc Modelica/Electrical/Machines/BasicMachines/AsynchronousInduction
Machines/AIM_SquirrelCage
powerSensor Modelica/Mechanics/Rotational/Sensors/PowerSensor
loadInertia Modelica/Mechanics/Rotational/Components/Inertia
torque Modelica/Mechanics/Rotational/Sources/Torque
Modelica/Electrical/Machines/Utilities/ParameterRecords/AIM_
aimcData
SquirrelCageData
combiTable1Ds Modelica/Blocks/Tables/CombiTable1Ds
ramp Modelica/Blocks/Sources/Ramp
feedback Modelica/Blocks/Math/Feedback
PI Modelica/Blocks/Continuous/PI
gain Modelica/Blocks/Math/Gain
star [Link]/MultiPhase/Basic/Star
ground Modelica/Electrical/Analog/Basic/Ground
sineVoltage Modelica/Electrical/MultiPhase/Sources/SineVoltage
currentQuasiRMSSe
Modelica/Electrical/Machines/Sensors/CurrentQuasiRMSSensor
nsor
electricalPowerSens
Modelica/Electrical/Machines/Sensors/ElectricalPowerSensor
or

1. Locate each of the components in the library.

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Next, you will add connections between the various AIMC components.

Connecting Modelica AIMC Components

To connect the components for the AIMC example as shown in the diagram below:

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1. Click on an input or output pin of one of the components and connect it to the desired pin
of another component.
2. Repeat for each connection.

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Next, you will add an initial equation and declare a variable for the AIMC design.

Adding an Initial Equation and Variable Declaration to the AIMC Design

For this example, three initial equations are needed for the AIMC machine, and several variables
declared.

Initial Equation

1. For the initial equations, on the Twin Builder Modelica tab, click the Equations icon to
open the Edit Model dialog box.

2. Select Initial Equation, then click the button in the upper right of the dialog box to

open the Equation editor, and enter the following equations:

aimc.i_0_s = 0;

der(aimc.idq_sr) = zeros(2);

der(aimc.idq_rr) = zeros(2);

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3. Click OK to close the dialog box, adding the equation to the Edit Model dialog box.

4. Repeat for each of the equations.

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5. Click OK to close the Edit Model dialog box. The Overwrite Model Text dialog box
appears.

6. Click Yes, overwrite from diagram to generate the equation and add it to the model text.

Variable Declarations

1. To create the needed variables for this design, on the Twin Builder Modelica tab, click the
Variables icon to open the Edit Model dialog box.

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2. Click the button in the upper right of the dialog to open the Edit Variable dialog box,

and enter the settings such as for the integer parameter m3=3 shown below. The Prefix,
Connector, and Causality settings remain the defaults as shown.

3. Click OK to close the dialog box, adding the variable to the Edit Model dialog box.

4. Repeat, adding the variables listed in the following table:

Array
Variable Variabili Typ
Value dimensi
Name ty e
on
paramet
m 3 real
er
paramet
PNominal 18500 real
er
paramet
VNominal 400 real
er
paramet
INominal 32.85 real
er

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Array
Variable Variabili Typ
Value dimensi
Name ty e
on
paramet
pfNominal 0.898 real
er
paramet
fNominal 50 real
er
[Link].from_rpm paramet
wNominal real
(1462.5) er
paramet
TNominal PNominal/wNominal real
er
TempNomi paramet
[Link].from_degC(90) real
nal er
{1E-
paramet
Ptable 6,1845,3549,5325,7521,9372,11010,12930, real :
er
14950,16360,18500,18560,20180,22170}
{11.0,11.20,12.27,13.87,16.41,18.78,21.07,23. paramet
Itable real :
92, 27.05,29.40,32.85,32.95,35.92,39.35} er
{1500,1496,1493,1490,1486,1482,1479,1475, paramet
ntable real :
1471, 1467,1462,1462,1458,1453} er
{0.085,0.327,0.506,0.636,0.741,0.797,0.831,0. paramet
ctable real :
857, 0.875,0.887,0.896,0.896,0.902,0.906} er
{0,0.7250,0.8268,0.8698,0.8929,0.9028,0.906
paramet
etable 4,0.9088, real :
er
0.9089,0.9070,0.9044,0.9043,0.9008,0.8972}

Note that for array parameters such as Ptable, you must specify : in the Array dimension
field so that the size can adapt to user input.

5. Outputs can also be declared as a special type of variable by setting Causality to output.
For this example, declare the following special variables:

Variable Variabilit Prefix/Causalit

Value Type
Name y y
[Link]
Pel electricalPowerSensor.P none
er
[Link]
Pmech [Link] output
er
if noEvent(abs(Pel) >
Eff_sim real output
[Link]

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Variable Variabilit Prefix/Causalit

Value Type
Name y y
l) then Pmech/Pel else 0

6. Click OK to close the Edit Model dialog box. The Overwrite Model Text dialog box
appears.

7. Click Yes, overwrite from diagram to add the variable declarations to the model text.

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Next, you will set up properties for the AIMC model.

Setting Up Model Properties for the AIMC Example

The model properties for the components used in this example are summarized in the following
table.

Component Instance Properties

terminalBox terminalConnection = “D”
Lm = [Link]

Lrsigma = [Link]

Rr = [Link]

TrRef = [Link]

aimc alpha20r = aimcData.alpha20r

TrOperational = TempNominal

p = aimcData.p

fsNominal = [Link]

TsOperational = TempNominal

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Component Instance Properties

Rs = [Link]

TsRef = [Link]

alpha20s = aimcData.alpha20s

Lszero = [Link]

Lssigma = [Link]

Jr = [Link]

useSupport = false

Js = [Link]

useThermalPort = false

statorCoreParameters = [Link]

strayLoadParameters = [Link]

frictionParameters = [Link]

phiMechanical(fixed = true)

wMechanical(fixed = true, start =

2*[Link]*[Link]/aimcData.p)

NOTE: For the phiMechanicaland wMechanical properties, refer

to the "Modification of variables ir, phiMechanical and wMechanical
" on page 3-93 step below.
powerSensor Use defaults
J = [Link]
loadInertia
stateSelect = [Link]
torque Use defaults
Jr = 0.12

Lm = 66.4/(2*[Link]*fNominal)

Lrsigma = 2.31/(2*[Link]*fNominal)

aimcData Rr = 0.42

Rs = 0.56

alpha20r =
[Link].alpha20Aluminiu
m

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Component Instance Properties

alpha20r =
[Link].alpha20Copper

Lssigma = 1.52/(2*[Link]*fNominal)

frictionParameters = frictionParameters(PRef=180,
wRef=wNominal)

statorCoreParameters = statorCoreParameters(PRef=410,
VRef=387.9)

strayLoadParameters = strayLoadParameters(PRef=0.005*sqrt
(3)*VNominal*INominal*pfNominal, IRef=INominal/sqrt(3),
wRef=wNominal)
verboseRead = false

columns = 2:size([Link], 2)

combiTable1Ds table = {{Ptable[j],Itable[j],ntable[j],ctable[j],etable[j]} for j in 1:size

(Ptable, 1)}

smoothness =
[Link]
height = 1.2*PNominal

ramp duration = 5.5

startTime = 4.5
feedback Use defaults
k = 0.01

PI T = 0.01

initType = [Link]
gain k = -1
star Use defaults
ground Use defaults
V = fill(sqrt(2/3)*VNominal, 3)

sineVoltage freqHz = fill(fNominal, 3)

m =3
currentQuasiRMSSensor Use defaults
electricalPowerSensor m =3

To display the editable parameters and properties of a component:

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1. Click the model to open the model’s Properties window.

a. Click on the sineVoltage component to display its Properties window.

b. On the General tab, per the information in the above table, enter 3 for the m
property; fill(fNominal, 3) for freqHz, and fill(sqrt(2/3)*VNominal, 3) for V. No
other changes are needed. The Properties tab allows you to set the name of the
component instance.

Modification of variables ir, phiMechanical and wMechanical

This example requires modification of variables phiMechanical and wMechanical for the aimc
machine. This cannot be done directly in the Properties window, but instead requires that
modifiers be added.

1. To add modifiers to aimc, select the aimc instance in diagram editor and on the ribbon
Modelica tab click Add Modifier (or right click on the aimc instance and select Add
Modifier from the context menu). In the Add Modifier dialog box, add the following three
lines:
wMechanical(fixed=true,

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start=2*[Link]*[Link]/aimcDat
a.p)

phiMechanical(fixed = true)

Next, you will compile and update the project.

Compiling and Updating the AIMC Project

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1. Click Compile & Update Project on the ribbon Modelica tab as shown below.

The Overwrite model text dialog box appears.

2. For the AIMC example, all the editing has been completed in the diagram, so select Yes,
overwrite from diagram. The model is compiled. This may take several seconds.

3. Following the compile operation, you can select interfaces for the AIMC model, or just
accept the default set of preselected interfaces.

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Twin Builder® Modelica Tutorial

4. When finished selecting interfaces, click Apply Changes to close the dialog box and
apply the changes to the AIMC model. The Update Components dialog box appears with
both the AIMC model and component selected for import into Twin Builder.

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Twin Builder® Modelica Tutorial

5. Click OK to complete the update and import the AIMC model and component into Twin
Builder.

The Modelica AIMC component is now ready to use in a Twin Builder design. You can find the
Modelica component in the Project Manager > Definitions > Components folder, as shown
below.

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Twin Builder® Modelica Tutorial

Next, you will add the component to a Twin Builder schematic.

Adding the AIMC Component to a Twin Builder Schematic

When the Modelica AIMC component is ready to use in a Twin Builder design, you can find the
component in the Project Manager > Definitions > Components folder, as shown below.

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Twin Builder® Modelica Tutorial

2. Locate the Modelica AIMC component in the Project

Manager > Definitions > Components folder, then drag and place it in the design
schematic, as shown below.

Any change made in the Modelica environment will need to be compiled and
updated to the project again.

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Twin Builder® Modelica Tutorial

Because the entire AIMC system is built inside the Modelica component, the Twin Builder
design is now complete and ready to analyze.

Next, you will define outputs and create reports for simulation results.

Defining Outputs and Creating Reports for the AIMC Design

When Modelica AIMC component is ready to use in a Twin Builder design, you can find the
component in the Project Manager > Definitions > Components folder, as shown below.

Refer to Setting the Outputs for Simulation in the Twin Builder help for more information.

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Twin Builder® Modelica Tutorial

2. In the Project Manager, you can then right-click Results and choose Create Standard
Report to add various types of reports for the design being simulated.

Next, you will set up and run a transient analysis to generate AIMC simulation results.

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Setting Up and Running a Transient Analysis for the AIMC Design

In this example, we would like to simulate the time-domain response of the AIMC system. This
requires that a transient analysis needs to be performed on the design. By default, a transient
analysis, TR, is created for the design. You can find it in the Project Manager under Analysis of
the design.

1. Double-click on TR to set up end time and the desired time step for the simulation.

2. For this example, set End Time to 20 s, Min Time Step to 10 us, and keep Max Time
Step as the default 1 ms. For more details about transient analysis, see Transient
Analysis Setup in the Twin Builder help.

Below is a sample report of the simulation results for the design.

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Twin Builder® Modelica Tutorial

Example: Simple Power Train

This example illustrates a Twin Builder design for a simple motor power train consisting of a
PMSM (Permanent Magnet Synchronous Motor) and other components taken from the Twin
Builder component libraries that are used to drive a load, which is a Modelica gear shift
component that has been modeled in the Modelica environment.

In Twin Builder schematic shown above, the current sources, PMSM component, and all
components (except the circled Modelica gear shift component) are from Twin Builder
component libraries. The Modelica gear shift load is modeled in the Modelica environment.

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Twin Builder® Modelica Tutorial

The figure below shows the internal diagram of the gear shift Modelica model. It is based on the
[Link] in the Modelica Standard
Library. It shows how an automatic gear shift is built up from a planetary gear, a brake, a clutch,
and related Modelica components. The basic operation of the model is as follows:
l In the beginning, the clutch is free (disengaged) and the brake prevents the ring of the
planetary gear from moving. Thus the gearRatio = 1/(1 + [Link]).
l At time = 2 s, the brake releases the ring of the planetary gear, while the clutch blocks the
ring and the sun gear. Thus we obtain a gearRatio = 1.

This example is based on the following example project located in the Modelica Tutorial
Examples folder:
<Installation location>\Examples\Twin Builder\Modelica Tutorial\Tutorial
Examples\[Link]

Simple Power Train Example Workflow

In this example, we will create a Modelica gear shift model, then add it as one component in a
larger Twin Builder Power Train design that includes a permanent magnet synchronous motor
and supporting components taken from Twin Builder's component libraries. We will then analyze
its performance in the Twin Builder environment. The following steps outline the process for
accomplishing these goals.

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Twin Builder® Modelica Tutorial

l Add a new project and Modelica Model in Twin Builder.

l Place the Modelica components for the simple power train model into the Diagram
Editor.
l Connect the Modelica simple power train components.
l Assign the various simple power train component properties.
l Compile and update the Twin Builder project.
l Add the Modelica component to the Twin Builder Schematic.
l Add Twin Builder Components to the design and add connections.
l Assign properties to the Twin Builder components.
l Define outputs and Create Reports for the simple power train design.
l Set up and run a Transient analysis for the simple power train design.

Adding a New Project and Modelica Model in Twin Builder

1. Select File > to create a new project in Twin Builder. You can rename the project by right-
clicking the project icon in the Program Manager, and selecting Rename.

2. Create a new Modelica model by doing one of the following:

l Select Twin Builder > Add Model.
l Press Ctrl+Shift+M.
l In the Program Manager Definitions folder, right-click the Models folder and select
Add Definition.

3. Select Modelica as the Type and enter a Name for the new model.

The Modelica environment is displayed, with the Modelica libraries appearing in the
Component Libraries window on the right.

Next, you will place the Modelica components that are needed for the simple power train model
into the Diagram Editor.

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Twin Builder® Modelica Tutorial

Placing Modelica Components for the Simple Power Train Model

All of the required components for the Modelica simple power train gear shift model can be found
in the Modelica library in the locations shown in the following table.

Component Instance Location in Library

u Modelica/Blocks/Interfaces/RealInput
y Modelica/Blocks/Interfaces/RealOutput
torque Modelica/Mechanics/Rotational/ Sources/Torque
engine Modelica/Mechanics/Rotational/Components/Inertia
idealPlanetary Modelica/Mechanics/Rotational/Sources/IdealPlanetary
clutch Modelica/Mechanics/Rotational/Components/Clutch
brake Modelica/Mechanics/Rotational/Components/Brake
load Modelica/Mechanics/Rotational/Components/Inertia
Modelica/Mechanics/Rotational/
quadraticSpeedDependentTorque1
Sources/QuadraticSpeedDependentTorque
torqueStep1 Modelica/Mechanics/Rotational/ Sources/TorqueStep
speedSensor Modelica/Mechanics/Rotational/Sensors/SpeedSensor
feedback Modelica/Blocks/Math/Feedback
const1 Modelica/Blocks/Sources/Constant
ramp Modelica/Blocks/Sources/Ramp

1. Locate each of the components in the library.

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Twin Builder® Modelica Tutorial

Next, you will add connections between the various power train components.

Connecting Modelica Power Train Components

To connect the components for the power train system as shown in the diagram below:

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1. Click on an input or output pin of one of the components and connect it to the desired pin
of another component.
2. Repeat for each connection.

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Twin Builder® Modelica Tutorial

Next, you will set up properties for the power train model.

Setting Up Model Properties for the Modelica Power Train Example

The model properties for the components used in this example are summarized in the following
table.

Component Instance Properties

u Use defaults
y Use defaults
torque Use defaults
engine J=1
idealPlanetary ratio = 75/50
cgeo = 2

fn_max = 100

phi_rel(fixed = true)*
clutch
w_rel(fixed = true)*

*NOTE: To set up the phi_reland w_rel properties,

refer to the "Modification of variables phi, w, phi_rel

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Component Instance Properties

and w_rel" on page 3-111 step below.
cgeo = 2
brake
fn_max = 100
J = 10

phi(start = 0)*

load w(start = 0)*

*NOTE: To set up the phiand w properties, refer to the

"Modification of variables phi, w, phi_rel and w_rel" on
the facing page step below.
tau_nominal = -20
quadraticSpeedDependentTorque1
w_nominal = 100
stepTorque = 10
torqueStep1
startTime = 1
speedSensor Use defaults
feedback Use defaults
const1 k=1
duration = 0.1
ramp
startTime = 2

To display the editable parameters and properties of a component:

1. Click the model to open the model’s Properties window.

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a. Click on the brake component to display its Properties window.

b. On the General tab, per the information in the above table, enter 2 for the cgeo
property; and 100 for fn_max. No other changes are needed. (The Properties tab
allows you to set the name of the component instance.)

Modification of variables phi, w, phi_rel and w_rel

This example requires modification of variables phi and wfor the load component; and variables
phi_reland w_relfor the clutch component. This cannot be done directly in the Properties
window, but instead requires that modifiers be added.

1. To add modifiers to load, select the load instance in diagram editor and on the ribbon
Modelica tab click Add Modifier (or right click on the load instance and select Add
Modifier from the context menu). In the Add Modifier dialog box, add the following three
lines:
phi(start = 0)

w(start = 0)

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2. To add modifiers to clutch, select the clutch instance in diagram editor and on the ribbon
Modelica tab click Add Modifier (or right click on the load instance and select Add
Modifier). In the Add Modifier dialog box, add the following three lines:
phi_rel(fixed = true)

w_rel(fixed = true)

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Twin Builder® Modelica Tutorial

Next, you will compile and update the project.

Compiling and Updating the Simple Power Train Project

1. Click Compile & Update Project on the ribbon Modelica tab as shown below.

The Overwrite model text dialog box appears.

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Twin Builder® Modelica Tutorial

2. For the Simple Power Train example, all the Modelica model editing has been completed
in the diagram, so select Yes, overwrite from diagram. The model is compiled. This may
take several seconds.

3. Following the compile operation, you can select interfaces for the simple power train
model, or just accept the default set of preselected interfaces.

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Twin Builder® Modelica Tutorial

4. When finished selecting interfaces, click Apply Changes to close the dialog and apply the
changes to the simple power train model. The Update Components dialog box appears
with both the simplePowerTrain model and component selected for import into Twin
Builder.

5. Click OK to complete the update and import the simplePowerTrain model and component
into Twin Builder.

The Modelica simplePowerTrain component is now ready to use in a Twin Builder design. You
can find the Modelica component in the Project Manager > Definitions > Components folder,
as shown below.

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Twin Builder® Modelica Tutorial

Next, you will add the component to a Twin Builder schematic.

Adding the Simple Power Train Component to a Twin Builder Schematic

When the Modelica Simple Power Train component is ready to use in a Twin Builder design, you
can find the component in the Project Manager > Definitions > Components folder, as shown
below.

2. Locate the Modelica SimplePowerTrain component in the Project

Manager > Definitions > Components folder, then drag and place it in the design

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Twin Builder® Modelica Tutorial

schematic, as shown below.

Any change made in the Modelica environment will need to be compiled and
updated to the project again.

Next, you will add and connect Twin Builder components to the design.

Placing and Connecting Twin Builder Components for the Simple Power
Train Design
All of the required Twin Builder components for the simple power train design can be found in the
Twin Builder libraries locations shown in the following table.

Component Instance Location in Library

sine1 Basic Elements VHDLAMS\Tools\Time Functions:sine
dq02abc1 Aircraft Electrical VHDLAMS\Basic:dq02abc

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Component Instance Location in Library

Current sources I1 –
Basic Elements\Circuit\Sources:I
I3
ground VDALibs VHDLAMS\hybrid_emc_vda\elements_general\gnd
Resistors R1 – R3 Basic Elements\Circuit\Passive Elements:R
Inductors L1 – L3 Basic Elements\Circuit\Passive Elements:L
PMSM Aircraft Electrical VHDLAMS\Load:motor_pm
Rotational torque Basic Elements\Measurement\Mechanical\Velocity-Force-
meter Representation\Rotational_V:FM_ROT
Rotational angular Basic Elements\Physical Domains\Mechanical\Velocity-Force-
velocity source Representation\Rotational_V:V_ROT
Basic Elements\Physical Domains\Mechanical\Velocity-Force-
Rotational mass
Representation\Rotational_V:MASS_ROT

1. Locate each of the components in the library.

2. Drag and drop the components into the Schematic Editor in the Twin Builder Environment,
arranging them as shown in the figure below. (The circled Modelica component was
already placed on the schematic.)

3. Press Esc after placing each component to stop the placement action. Connections will
be added below.
4. To change a component instance name, click on one to display its properties. Enter the
desired instanceName in the associated Value field on the Properties tab.
5. To connect the components, click on an input or output pin of one of the components and
connect it to the desired pin on the other component. Note that:

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l You can right-click a component and choose Pin Visibility to toggle pin display.
l In the figure above, input pin i_q for the dq02abc component is fed by a sinusoidal
signal. The other two inputs (i_d and i_0) can be hidden.
l In the figure above, for the PMSM component, input signal pin free is not used, and
output pin phi_eo must be turned on and connected to input phi_e of the dq02abc
component.
6. Repeat this procedure for each connection.

The Modelica model is based on a Functional Mock-up Interface (FMI) which only supports
causal input/output pins. However, physical connections in Twin Builder is usually acausal, as a
result, acausal-causal and causal-acausal connectors are necessary for this example to connect
Twin Builder PMSM element and created Modelica power train model, as shown below.

Next, you will assign properties for the Twin Builder components.

Setting Up Properties for the Simple Power Train Twin Builder Components
The properties for the Twin Builder components used in this example are summarized in the
following table.

Component Instance Properties

Ampl = 84.6
sine1
Freq = 1 Hz
I_d = 0
dq02abc1
I_0 = 0
Current sources I1 – I3 Use defaults
ground Use defaults
Resistors R1 – R3 R1 = R2 = R3 = 1 Ohm

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Component Instance Properties

Inductors L1 – L3 L1 = L2 = L3 = 1e-5 H
Phi_e = 0
PMSM
Free = false
Rotational torque meter Show pin for torque
Rotational angular velocity source show pin for value
Rotational mass J = 1 kgm2

To display the editable parameters and properties of a component:

1. Click the component to open its Properties window.

a. Click on the sine1 component to display its Properties window.

b. On the Quantities tab, per the information in the above table, enter 84.6 for the
ampl property; and 1Hz for freq. No other changes are needed.

Next, you will define outputs and create reports for the simple power train design.

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Defining Outputs and Creating Reports for the Simple Power Train Design
When all of the simple power train components are ready to use in the Twin Builder design, you
can define outputs and set up reports.

1. To create reports or graphical representations of simulation results, you must first define
outputs in the Output dialog to make them available for plotting. This can be done by
clicking on Output Dialog in the Schematic tab of the desktop ribbon. For this example,
the following outputs are selected:
l simPowerTrain1.u
l simPowerTrain1.y
l simPowerTrain1.engine_w
l simPowerTrain1.load_w

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Refer to Setting the Outputs for Simulation in the Twin Builder help for more information.

2. In the Project Manager, you can then right-click on Results and choose Create Standard
Report to add various types of reports for the design being simulated.

The outputs you set in the Output dialog box will be available in the Report dialog boxes
for plotting. Below are example reports dialogs for plotting the outputs mentioned above.

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Twin Builder® Modelica Tutorial

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Twin Builder® Modelica Tutorial

For details on the various ways for viewing simulation results, see Generating Reports
and Postprocessing in the Twin Builder help.

Next, you will set up and run a transient analysis to generate simulation results.

Setting Up and Running a Transient Analysis for the Simple Power Train
Design
In this example, we would like to simulate the time-domain response of the simple power train
design. This requires that a transient analysis be performed on the design. By default, a
transient analysis, TR, is created for the design. You can find it in the Project Manager under
Analysis of the design.

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1. Double-click on TR to set up end time and the desired time step for the simulation.

2. For this example, set End Time to 5 s, Min Time Step to 10 us, and keep Max Time Step
as the default 1 ms. For more details about transient analysis, see Transient Analysis
Setup in the Twin Builder help.

Below are sample reports of the simulation results for the design.

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Twin Builder® Modelica Tutorial

Case Studies 3-126

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Twin Builder® Modelica Tutorial

4 - Index

Component Libraries 2-2, 2-3

Examples 1-2

Help 1-2

Introduction 1-1

Manuals 1-2

SIMPLORER

Documentation 1-2

PDF manuals 1-2

Starting simulation system 2-4

Simplorer

Help 1-2

Simulation

Examples 1-2

Starting, SIMPLORER 2-4

Index 127

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Modelica Tutorial

Uploaded by

Modelica Tutorial

Uploaded by

Twin Builder® Modelica Tutorial

ANSYS, Inc. Release 2025 R2

Copyright and Trademark Information

© 1986-2025 ANSYS, Inc. Unauthorized use, distribution or duplication is prohibited.

THIS ANSYS SOFTWARE PRODUCT AND PROGRAM DOCUMENTATION INCLUDE TRADE

U.S. Government Rights

information of ANSYS, Inc. and its subsidiaries and affiliates.

1 - Introduction to Modelica in Twin Builder 1-1

General Description of Contents 1-2

Twin Builder Documentation 1-2

2 - Working with Modelica in Twin Builder 2-1

Overview of the Twin Builder Interface 2-1

Overview of the Twin Builder Modelica Environment 2-3

Starting Twin Builder and Creating a New Project 2-4

The Twin Builder Component 2-7

Related Topics 2-9

Creating a Modelica Component in Twin Builder 2-9

Importing a Modelica Model File 2-9

Using the Diagram Editor to Create a Modelica Model 2-12

Using a Modelica Component in a Twin Builder Design 2-17

Analyzing a Design and Plotting Results 2-17

Adding a New Project and Modelica Model in Twin Builder 2-20

Placing Modelica Components for a New Model 2-21

Connecting Modelica PID Controller Components 2-22

Initial Equation 2-23

Variable Declaration 2-25

Setting Up Model Properties for the PID Controller 2-26

Compiling and Updating the PID Controller Project 2-28

Adding the PID Controller Component to a Twin Builder Schematic 2-31

information of ANSYS, Inc. and its subsidiaries and affiliates.

3 - Case Studies 3-1

Mechanics Example: Heat Losses 3-1

Heat Losses Example Workflow 3-2

Adding a New Project and Modelica Model in Twin Builder 3-2

Placing Modelica Components for the Heat Losses Model 3-3

Connecting Modelica Heat Losses Components 3-4

Setting Up Model Properties for the Heat Losses Example 3-6

Compiling and Updating the Heat Losses Project 3-10

Adding the Heat Losses Component to a Twin Builder Schematic 3-13

Fluids Example: Controlled Tanks 3-19

Adding a New Project and Modelica Model in Twin Builder 3-20

Placing Modelica Components for the Controlled Tanks Model 3-21

Connecting Modelica Controlled Tanks Components 3-22

Setting Up Model Properties for the Controlled Tanks Example 3-27

Compiling and Updating the Controlled Tanks Project 3-29

Adding the Controlled Tanks Component to a Twin Builder Schematic 3-33

Thermal Example: Parallel Pump Drop Out 3-37

Adding a New Project and Modelica Model in Twin Builder 3-39

Connecting Modelica Parallel Pump Drop Out Components 3-41

information of ANSYS, Inc. and its subsidiaries and affiliates.

Magnetics Example: SMPM Inverter MultiPhase 3-53

Adding a New Project and Modelica Model in Twin Builder 3-55

Connecting Modelica SMPM Inverter MultiPhase Components 3-58

Adding an Initial Equation and Variable Declaration to the SMPM Inverter

Compiling and Updating the SMPM Inverter MultiPhase Project 3-69

Electrical Example: AIMC with Losses 3-79

Adding a New Project and Modelica Model in Twin Builder 3-80

Placing Modelica Components for the AIMC Model 3-81

Connecting Modelica AIMC Components 3-82

Initial Equation 3-84

Setting Up Model Properties for the AIMC Example 3-90

Compiling and Updating the AIMC Project 3-94

Adding the AIMC Component to a Twin Builder Schematic 3-98

Example: Simple Power Train 3-103

Adding a New Project and Modelica Model in Twin Builder 3-105

information of ANSYS, Inc. and its subsidiaries and affiliates.

Connecting Modelica Power Train Components 3-107

Compiling and Updating the Simple Power Train Project 3-113

information of ANSYS, Inc. and its subsidiaries and affiliates.

1 - Introduction to Modelica in Twin Builder

Modelica is an open standard non-proprietary, object-oriented, equation-based language to

Introduction to Modelica in Twin Builder 1-1

information of ANSYS, Inc. and its subsidiaries and affiliates.

More information on Modelica can be found here: [Link]

General Description of Contents

Working with Modelica in Twin Builder