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Integration of complex Modelica-based physics models and discrete-time control systems: Approaches and observations of numerical performance

A Modelica-based air conditioning (A/C) system model has been integrated, closed-loop, with related Sfunction-based controls in the Simulink environment. The integration was performed with two different approaches, with a DymolaBlock-based S-function for the A/C model, and as a co-simulation FMU. The simulation performance of the integrated model needs to be sufficiently fast for the purpose of vehicle-level simulations and optimizations. This paper will discuss the integrated modeling of A/C system and associated control systems over a dynamic drive cycle, and the associated numerical performance issues discovered, as well as some approaches taken to increase said performance.