EcosimPro Overview
Empresarios Agrupados Internacional
Pedro Cobas
Head of EcosimPro & PROOSIS Simulation tools
Tel: 34 91 3098150
http:
[Link]
EcosimPro Overview
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2010 EA Internacional
EcosimPro
EA Internacional
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Who is EA Internacional?
Empresarios
Agrupados Internacional (EAI) is an architectengineering organisation founded in 1971 to undertake nuclear
power generation projects for the Electricity Sector.
EAI later diversified its activities to include other areas of interest
such Space, Aeronautics, Defence and Information Technology etc.
It has a staff of 1100 persons, 70%
of whom are university
graduates
Main areas of work: Power generation, Space Defense, Civil
Aviation and Information Technology
EA Simulation Department has more than 35 years of experience.
The main background is: power plants (nuclear, fossile fuel,
combined cycle, fuel cells), hydraulic systems, propulsion, etc.
URL:
[Link]
EcosimPro Overview
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2010 EA Internacional
EcosimPro
ESA-EA Relationship
EcosimPro project was originally an ESA project for modelling
complex environmental control and life support simulation for
the International Space Station (Columbus and Hermes)
In 1995 EA decides to create a commercial product based on
this software and move to the Windows operating system.
ESA is funding every year a part of the new improvements of
EcosimPro since EcosimPro has become as the standard ESA
tool in the areas of ECLSS, Propulsion and Biological Systems.
EA and ESA maintains a close relationship in terms of
exchanging information, proposing new improvements,
creation of standard libraries, etc.
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EcosimPro
ESA-EA Relationship
ESA is the depositary of the source code of EcosimPro.
Should EA decide not continue with the development, ESA
has the right to use the source code
Today several aerospace companies (EADS, NASA,
Alenia,etc.) use EcosimPro for modeling parts of the
International Space Station and Ariane launcher and ESA
guaranties that EcosimPro future is safe.
ESA has selected EcosimPro as its standard tool for three
areas:
ECLSS
Satellite Propulsion
Power Systems
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2010 EA Internacional
EcosimPro
History of EcosimPro
MAIN MILESTONES:
The project started in 1989 with funds from the European Space
Agency (ESA) to simulate environmental control and life
support systems for manned spacecraft (Hermes y Columbus)
Version 1.0 in 1992. Unix.
Version 2.0 in 1995. Unix
Version 3.0 in January 2000. Windows
Version 4.0 in February 2007. Windows
Version 4.4 in January 2008. Windows
Version 4.6 in November 2009. Windows. Linux for runtime
Version 4.8 in September 2010. Windows. Linux for runtime
Version 4.10 expected at the end of 2011. Windows. Linux for
runtime
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EcosimPro
Success Histories
EcosimPro Overview
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EcosimPro
Example of a complex model for modelling: the Vulcain engine
Example: Vulcain Main Stage
H2 line
EcosimPro model
O2 line
LH2
LOX
Pt
SinglePipe
1
Bound_PT_liq
1
VAH
SinglePipe
Pump
2
f1
f2
SonicTurbine
1
2
tp
SinglePipe
s_pos_gas f_liq
f Gas
P T
2
1
VCO
1
f_liqs_pos_gas
f Gas
CombustChamber_GasLiq
EcosimPro Overview
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Valve
tp_ch
tp
Nozzle
VCH
Turbine
and Pump
SinglePipe
VGH Valve
VGO
SinglePipe
T P
2
Gas
generator
2
1
SinglePipe
LEH
SinglePipe
Valve
CombustChamber_GasLiq
TP LH2
SinglePipe
1
2
1
TP LOX
LEO
SonicTurbine
SinglePipe
SinglePipe
SinglePipe
SinglePipe
GasComb_to_Fluida
VGC
Valve
VAO
RegCircuit
Combustion
chamber and
refrigeration
2010 EA Internacional
EcosimPro
Thermal balance in Thermosolar power plant
with accumulators.
Accumulator
Condenser
Plant
schematic
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Thermal balance in Thermosolar power plant with
accumulators.
G
gd
P_2
P_1
T2
T1
P_3
T3
T4
MS_2
Alternator_1
RS
P
P_20
P_F
Accumulator
P_22
P_21
P_23
HC
CONDENSER
AC_1
DA_1
ve1
H4
DEAREATOR
HC2
vl1
P_7
Condenser
AC_2
M_U
P_10
DA_2
ve2
vl2
MR_1
M_F
AC_3
H1
ve3
P_4
MR_2
HC4
vl3
P
AC_4
DA_4
MD_3
H3
P_8
DA_3
HC3
P_9
PAA
ve4
vl4
P_6
PC
MR_3
EcosimPro Model
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2010 EA Internacional
EcosimPro
Hydraulic model of a control feeding system in a
Nuclear Power Plant.
Vapour generator
Pump
Plant Schematic
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Hydraulic model of a control feeding system in a
Nuclear Power Plant.
Vapour generator
Pump
EcosimPro Model
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Air revitalisation model for the International Space
Station
ARES is a environmental control and life support system designed for the
multipurpose laboratory of the ISS. ARES has four modules:
CCA. Carbon Dioxide Assembly
CRA. Carbon Reduction Assembly
OGA. Oxygen Generation Assembly(see next slide)
Multiple filter module
The targets of ARES are:
Generate breathable oxygen extracted from water
Control the CO2 level produced in the cabin
Convert the remaining CO2 in water and methane
Recover the produced water for later use
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Air revitalisation model for the International Space
Station
OGA_06
OGA_01
OGA_07
OGA_08
OGA_11
OG_GP_P_02
OG_WT_P_01
OG_GP_P_04
GL_GP_P_04
GL_GP_P_02
OG_V_05
OG_GP_11
OG_GP_24
OG_WT_04
OG_V_07
OG_c_07_06
OG_V_06
OG_V_08
OG_GP_C_04
OG_c_08_05
VacuumDome
OG_GP_T_02
RackAir
GL_VD_Rack
GL_GP_19
OG_GP_19_heater
OG_GP_02
c1
OG_GP_12
GL_GP_17
OG_GP_19
OG_GP_06
OG_WT_12
OG_c_17
OG_GP_13
GL_GP_P_01
OG_GP_17
OG_GP_P_01
OG_GP_16
OG_GP_17_heater
GL_GP_16
GL_accum_liq
OG_GP_16_heater
OG_GP_P_03
GL_Elec_VD
GL_accum_gas
GL_GP_P_03
accumulator
GL_WT_03_1
OG_GP_C_03
GL_WT_03_2
OG_WT_03_2_heater
OG_WT_03_1_heater
Accumulator
OG_WT_T_03
OG_WT_06
OG_WT_05
sensor_dp_h2_o2
DP
OG_WT_03_1 OG_WT_03_2
OG_WT_02
OG_WT_07
cx
s_DayCycle
s_OGA_state
s_CRA_state
OG_WT_P_02
OG_WT_T_01
control
OG_WT_16
OG_WT_25
Electrolyser
OG_WT_08
DP
OG_WT_26
sensor_dp_h2_h2o
Control system
OG_WT_T_02
Electroliser
OGA_03
OGA_04
OGA_12
OGA Module in EcosimPro
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EcosimPro
Vapour stability model in a co-generation power plant
System : vapour boilers in a co-generation power plant that provides vapour to
several systems of a refinery
Model in EcosimPro
Vapour boiler 1
Vapour boiler 2
Target:
To study the behaviour of the vapour supply to the refinery having into account:
- both turbines fail
- fail in a vapour boiler
- fast increment in the vapour demand
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Vapour stability model in a co-generation power plant
Vapour boiler model in EcosimPro:
(gas turbine, burner,diverter, difusor, superheaters, heat
exchangers, control system, etc.)
Control system for
the vapour pressure
EcosimPro Overview
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EcosimPro
Reverse osmosis desalination model
EcosimPro
Model
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Example of a Pressure Regulator Valve
Prepilot
Pilot
Control
Blocks
Body globe valve
with diaphragm actuator
Rate calculation
and
limitation
Error in pressure
regulated
(Opening)
Calculation of
valve
opening
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EcosimPro
EcosimPro
EcosimPro Overview
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EcosimPro
What is EcosimPro?
EcosimPro can be used to simulate any 1D phenomenon that
can be represented by differential-algebraic equations, such as:
Fluids in piping systems
Heat transmission
Chemical reactions
Control systems
Electrical circuits
Aeronautical or space propulsion
Biological systems
Economic models
Process plants
Mass and energy balances
Mechanical systems
etc
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2010 EA Internacional
EcosimPro
Modelling
Equation solvers extensively tested with complex models
Symbolic and numerical equation handling
Steady state and transient calculations
Complete HTML debugging information
Interface
Used for modelling 0D and 1D problems
Differential-algebraic equations and discrete events can be modelled
Easy-to-learn acausal object-oriented language
Graphics tool to create components by drawing them
Math assistants to generate robust final models
Kernel
General Description
Calls to external C, C++ and Fortran functions
Automatic DLL and C++ generation to re-use models
Add-in to execute models from Excel
Module to execute models from Matlab
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EcosimPro
User Interface
EcosimPro User Interface: General
View Mode
General Toolbar
Editing area
Library area
-.el files
- compiled components
- partitions
- experiments
- symbols
- schematics
Messages area
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EcosimPro
User Interface
View Mode: Schematic View
Creation or modification of models.
Creation and editing symbols and schematics.
Editing of component attributes
Etc
Draw toolbar
Schematic view toolbar
Symbols palette
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EcosimPro
User Interface
View Mode: Schematic View
Open schematic
EcosimPro Overview
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EcosimPro
User Interface
View Mode: Simulation View
Experiment simulation of associated models from loaded libraries.
Experiment
editing area
Schematic view toolbar
Partitions and
experiments area
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EcosimPro
User Interface
View Mode: Simulation View
Running experiments
Execution in Monitor
Batch execution
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EcosimPro
User Interface
View Mode: Code View
Use of the full potential of EcosimPro modelling language.
Creation and editing components
Code editing area
Code view toolbar
- Files tab.
- Items tab.
- Partitions tab.
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EcosimPro
User Levels
LEVEL 1 : Library modellers need an in-depth knowledge of the
component math and the modelling language
LEVEL 2 : Completed library users. They design systems
graphically
LEVEL 3 : They create multiple experiments on a closed
mathematical model. Transient and steady-state studies,
optimisation, etc
LEVEL 4 : They use EcosimPro models from Excel, Matlab, C++,
Visual Basic, etc. EcosimPro need not be installed
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EcosimPro
External Connections
C Functions
ActiveX
C++ classes
EcosimPro
FORTRAN functions
EcosimPro Overview
Excel
MATLAB / Simulink
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EcosimPro
Mathematics: Symbolic Manipulation
With EcosimPro, components can be modelled in two ways:
- Models that have already been built can be re-used by
aggregation and inheritance
- New components can be created based on related modelling
equations or experimental data
With acausal modelling, equations can be introduced not as
assignments, but as physical equivalences
For example, we can write:
F=m*a
o
Fm*a=0
o
a= F/m
EcosimPro Overview
This is one of the keys to reuse the same components for
different studies because...
the equations are
automatically transformed!
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2010 EA Internacional
EcosimPro
Mathematics: Mathematical Model wizards
What is a partition?
A partition in EcosimPro is a particular mathematical model of a
component.
The partition is the final model to be used in the experiments.
A partition is a closed mathematical problem wit the same number of
equations and unknowns. Since normally there are more variables than
equations, the user has to decide which are boundary conditions.
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EcosimPro
Mathematics: Mathematical Model wizards
The partition is done by means of a set of wizards that helps the
user to:
- Define boundary conditions
EcosimPro Overview
- Define algebraic variables in non
linear boxes
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EcosimPro
Mathematics: Solvers
ECOSIMPRO SOLVERS:
SOLVERS
EcosimPro is designed to solve differential and algebraic systems of
equations (DAEs). Like:
DAEs
r r d xr r
f x,
, t = 0
dt
Ordinary differential equations and algebraic equations are special cases
of DAEs:
ODEs
r
r
r r
r r
d x
d x r
= f (x , t )
f (x , t )
=0
dt
dt
Algebraic
equations
r r
r
r r r
r
f (x , t ) = 0
f (x , 0 , t ) = 0
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EcosimPro
Mathematics: Solvers
DASSL is based on the Gear method for stiff problems (slow and fast
dynamic together). Its main features are:
Automatic selection of the integration step and order
Integration order changes between 1 and 5
Use of Newton-Raphson to solve the implicit system of the equations
EcosimPro provides as well a sparse version of DASSL to deal with big
models (Jacobian size is very big)
A classic fourth order Runge-Kutta is provided for solving ODE systems.
EcosimPro Overview
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2010 EA Internacional
EcosimPro
EcosimPro .El Language
What is a Port?
A port encapsulates the variables that represent the actual
physical exchange among components
The components are connected by ports (electrical, control,
fluid, thermal, etc)
It greatly facilitates the modelling of complex systems because
it does not require working at variable level
What is a Component?
A component is the most elementary block in EcosimPro
It is a concept which is equivalent to a class in programming
The difference is that instead of encapsulating methods or
functions, it encapsulates a mathematical model
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2010 EA Internacional
EcosimPro
EcosimPro .El Language
Port Examples:
Fluid Port changes:
-Mass flow
- Pressure
PORT Fluid
SUM REAL w "mass flow (kg/s)"
EQUAL REAL p "pressure (Pa)"
END PORT
PORT Signal SINGLE IN "Analog signals 1D port"
EQUAL OUT REAL signal "Analog signal values (-)"
END PORT
Signal Port changes:
- Analogue signal
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EcosimPro
EcosimPro .El Language
Components are defined by:
Ports
Declaration of the ports
Declaration of data & variables (valve
area, pressure difference,)
Equations that represent the behaviour
Q = Cv
Component
Valve
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EcosimPro
EcosimPro .El Language
Component Example:
COMPONENT Valve
PORTS
IN Fluid f_in
-- Fluid port IN
OUT Fluid f_out
-- Fluid port OUT
IN Signal position -- Control port IN
The equations are written
DATA
in any order and format.
REAL Cv
-- Max flow area
Afterwards, EcosimPro
DECLS
transforms them
REAL dP
-- Pressure differential
symbolically
REAL m
-- Mass flow
CONTINUOUS
f_in.P - f_out.P = dP -- calculation of pressure difference
m / sqrt(dP * f_in.rho) = Cv * [Link]
f_in.m = m
f_in.m = f_out.m
END COMPONENT
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Hydraulic system model
Example of the complete modelling and simulation of a hydraulic
system from a figure based on the single Pipe component
Pipe4
Pipe component
Pipe2
Pipe5
Pipe1
Pipe6
Pipe3
Connection between
components
EcosimPro Overview
Pipe7
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2010 EA Internacional
EcosimPro
Hydraulic system model
Step 1: A fluid port to exchange mass flow and pressure must
be defined
PORT Fluid
SUM
EQUAL
REAL w
REAL p
"mass flow (kg/s)"
"pressure (Pa)"
END PORT
Variables that are
exchanged at each
connection
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Hydraulic system model
Step 2: A model is built of a basic, abstract parent
component (which cannot be instantiated)
Defines two
connecting ports
ABSTRACT COMPONENT Channel
PORTS
IN Fluid hp_in
OUT Fluid hp_out
"hydraulic port inlet"
"hydraulic port outlet"
DATA
REAL z_in = 0.
REAL z_out = 0.
"geometric elevation of inlet (m)"
"geometric elevation of outlet (m)"
Declares common
data
TOPOLOGY
PATH hp_in TO hp_out
END COMPONENT
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EcosimPro
Hydraulic system model
Step 3: The Pipe component is modelled
COMPONENT Pipe IS_A Channel
DATA
Inherited from
REAL f = 0.020
"friction factor ()"
Channel component
REAL l = 1.
"pipe length (m)"
REAL d = 0.1
"pipe diameter (m)"
REAL dp_lam = 1000. "pressure drop for laminar flow (Pa)"
Declare the data
DECLS
REAL A
"area (m**2)"
REAL w_lam
"mass flow corresponding to dp_lam (kg/s)
CONTINUOUS
Declare the
-- Geometry
variables
A = 0.25 * PI * d**2
-- Laminar flow condition
w_lam / A = sqrt(2 * d * dp_lam * rho / f / l)
-- Conservation of mass
hp_out.w = hp_in.w
Write the equations
-- Conservation of momentum
hp_in.p - hp_out.p + rho * g * ( z_in - z_out ) = \
0.5 * f * l * fpow2(hp_in.w, w_lam) / d / rho / A**2
END COMPONENT
EcosimPro Overview
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BEWARE! These
are equations, NOT
ASSIGNMENTS
2010 EA Internacional
EcosimPro
Hydraulic system model
Step 4: The code is written into EcosimPro and compiled
Code the Pipe model
and compile it
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Hydraulic system model
Step 5: An icon is created for the component
Draw an icon for
the Pipe
It is now included on
the palette
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Hydraulic system model
Step 6: The piping system is designed (which will be another
component)
Create the hydraulic
system diagram and
compile it
Paleta
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Hydraulic system model
g
Step 7: A valid mathematical partition is created
EcosimPro features wizards that help users to define final, robust
mathematical models. They engage in a dialogue with the user to:
Define variable boundaries
Break algebraic loops
Reduce high index mathematical problems
Wizard for defining
boundary conditions
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Hydraulic system model
g
Step 8: An experiment is created into which the model
integrates 15 seconds, imposing some laws on the boundary
conditions
Define values for
boundary conditions
The model integrates
15 seconds
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Hydraulic system model
Step 9: The simulation is run
View the evolution of
any model variable
EcosimPro Overview
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EcosimPro
Current simulation areas
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Current Libraries (I)
ECLSS
Environmental control and life
support systems in manned space craft
CONTROL
PROPSAT
Self-regulating
control systems
Satellite thermal
analysis
THERMAL
Hydraulic transients
in space propulsion
Hydraulic
transients
PIPELIQTRAN
EcosimPro
Hydraulic systems
Steady-state mode
PIPELIQ
Thermal balances in power
generating plants
(nuclear, combined cycle...)
Flow of compressible fluids
in piping systems
FLUID
THERMAL BALANCE
EcosimPro Overview
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2010 EA Internacional
EcosimPro
Current Libraries (II)
TURBO
Aeronautical propulsion
PROCESS
ELECTRIC
Process plants
ESPSS
Rocket and
satellite propulsion
Electrical circuits
EcosimPro
1D mechanical
MECHANICAL
systems
PREDICT
Predictive control
Flight mechanics
FLIGHT
HEATPIPE
Loop heat pipes
EcosimPro Overview
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2010 EA Internacional
EcosimPro