FMI 3.0：虚拟电子控制单元与高级功能

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"Functional Mock-up Interface (FMI) 是一个标准化的接口规范，用于模型交换和协同仿真。FMI 3.0 版本在前一版本的基础上进行了多项改进，以满足系统仿真社区的新需求。新特性包括：引入终端来语义化连接兼容信号、引入图标定义 FMU 及其终端的图形表示、使用时钟更精确地控制事件和跨 FMU 的模型分区评估时间、增加更多整数类型和32位浮点类型以支持原生控制器类型、引入二进制类型处理非数值数据、扩展变量为数组以优化非标量变量处理、添加结构参数允许动态改变数组大小以支持高级在线校准以及引入新的 'Scheduled Execution' 接口类型，允许外部调度器激活单个模型分区或任务，适用于实时平台。" 在 FMI 3.0 中，有几个关键的改进点： 1. **终端（Terminals）**：FMI 3.0 引入了终端概念，这使得变量可以被语义化分组，简化了兼容信号的连接。 2. **图标（Icons）**：此版本新增了图标功能，可以为 FMU 和其终端定义图形表示，增强了可视化交互性。 3. **时钟（Clocks）**：通过引入时钟，FMI 3.0 提供了更精确的时间控制机制，用于事件触发和模型分区的评估。 4. **数据类型扩展**：添加了更多整数类型和32位浮点类型，使得与外部通信时能更直接地使用控制器的原生类型。 5. **二进制类型（Binary Type）**：这个新类型支持非数值数据处理，如复杂的传感器数据接口。 6. **变量数组（Variable Arrays）**：FMI 3.0 扩展了变量为数组，使非标量变量的处理更有效且自然。 7. **结构参数（Structural Parameters）**：允许描述和改变数组大小，甚至在运行时进行，支持先进的在线校准控制代码。 8. **调度执行（Scheduled Execution）**：新接口类型支持外部调度器对模型分区或任务的激活，这在实时系统中特别有用。 FMI 3.0 的设计旨在增强互操作性，提高效率，并提供更多的灵活性，以适应不断发展的系统仿真需求。标准中的状态机和语义部分也进行了更新，以更好地管理不同工作模式，如初始化、事件和中间更新模式，确保在不同状态间平滑过渡。 FMI 3.0 是对 FMI 标准的重大升级，它提供了更强大的工具和功能，以应对复杂系统仿真挑战，特别是对于虚拟电子控制单元(vECU)的模拟和实时平台上的任务调度。这些改进对于系统集成商、软件开发者和仿真工程师来说，意味着更高的工作效率和更广泛的应用场景。

The state of all instances of the model is irreparably corrupted. [For example, due to a runtime exception such as access violation or

integer division by zero during the execution of an FMI function.] Function logMessage should be called by the FMU with further

information before returning this status, respecting the current logging settings, if still possible. It is not allowed to call any other

function for any instance of the FMU.

2.2.4. Inquire Version Number of Header Files

This function returns fmi3Version of the fmi3Functions.h header file which was used to compile the functions of the FMU. This function

call is allowed always and in all interface types.

The standard header file as documented in this specification has version

"3.0" , so this function returns "3.0" .

2.2.5. Advancing Time

This section highlights the differences of the concept of time (in general the independent variable) for the three different FMI types, ME,

CS and SE. Depending on the instantiated FMI type, the importer is restricted in what functions it is allowed to call in order to drive the

simulation.

In Model Exchange, time is under the sole control of the importer and its integration algorithm. The model itself receives the current time

to be used in its computation with

fmi3SetTime . In fact, time is not necessarily always advancing as solvers might need to jump back and

forth in time to localize events using zero-crossings of event indicators.

In Co-Simulation, time advances in (possibly variable) steps negotiated between the co-simulation algorithm of the importer and the

FMU. The importer calls

fmi3DoStep with the currentCommunicationPoint and a target communicationStepSize (required to be larger than

0.0). During this

fmi3DoStep , both importer and FMU might encounter events (or other situations) that require reduction of the

communicationStepSize (potentially even down to 0.0). The FMU may use earlyReturn argument of the fmi3DoStep function to tell the

importer that the FMU needs to return earlier, and the importer may use the callback

fmi3CallbackIntermediateUpdate to signal the FMU

that the latter should return earlier. The output argument

lastSuccessfulTime of fmi3DoStep allows the FMU to signal the importer its

current internal time.

In Scheduled Execution, time has a more discrete form. The scheduler of the importer activates specific tasks according to the time of the

importer. The time itself is communicated to the FMU as

activationTime argument of fmi3ActivateModelPartition .

2.2.6. Variables

FMU and importer use variables to exchange information. All variables are listed in the modelDescription.xml as elements of

<fmiModelDescription><ModelVariables> .

They are identified with a unique handle called value reference.

The attribute

causality defines the direction of the information flow with respect to the FMU (e.g. input , output , parameter ).

A variable can be a scalar or a multi-dimensional array.

2.2.6.1. Serialization of Array Variables

When getting or setting the values of array variables, the serialization of array variable values used in C-API function calls, as well as in the

XML

start attributes, is defined as row major, i.e., dimension order from left to right for the C-API (e.g. array[dim1][dim2]… [dimN] ), and

the document order in the XML attributes for the respective dimensions. For this serialization of array variables the sparsity pattern of the

array is not taken into account. All elements of the array, including structural zeros, are serialized.

[Example: A 2D matrix

typedef const char* fmi3GetVersionTYPE(void);

A =

is serialized as follows:

A[0][0]=a11 memory address: A

A[0][1]=a12 memory address: A+1

A[1][0]=a21 memory address: A+2

A[1][1]=a22 memory address: A+3

A[2][0]=a31 memory address: A+4

A[2][1]=a32 memory address: A+5

]

2.2.6.2. Getting and Setting Variable Values

Restrictions for setting and getting of variables with certain types, causalities and variabilities are described in the state machine and state

descriptions (see Section 2.3, Section 3.2 in case of Model Exchange, Section 4.2 for Co-Simulation and Section 5.2 for Scheduled

Execution). In addition to those state-specific restrictions, setting and getting of clocked variables is only allowed during Event Mode

when their respective Clocks are active, and during Initialization Mode irrespective of Clock actication status.

The value of a variable must be accessed with the respective

fmi3Get/Set{VariableType} (see also {VariableType} and

{VariableTypeExclClock} ) for the type defined in the modelDescription.xml . To set or inquire variables of type Enumeration , fmi3SetInt64

and fmi3GetInt64 must be used.

The current values of the variables can be inquired with the following functions:

typedef fmi3Status fmi3GetFloat32TYPE(fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

fmi3Float32 values[],

size_t nValues);

typedef fmi3Status fmi3GetFloat64TYPE(fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

fmi3Float64 values[],

size_t nValues);

typedef fmi3Status fmi3GetInt8TYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

fmi3Int8 values[],

size_t nValues);

typedef fmi3Status fmi3GetUInt8TYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

fmi3UInt8 values[],

size_t nValues);

typedef fmi3Status fmi3GetInt16TYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

fmi3Int16 values[],

size_t nValues);

typedef fmi3Status fmi3GetUInt16TYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

fmi3UInt16 values[],

size_t nValues);

typedef fmi3Status fmi3GetInt32TYPE (fmi3Instance instance,

valueReferences is a vector of nValueReferences value handles that define the variables that shall be inquired.

values is a vector with the actual values of these variables.

valueSizes is a vector with the actual sizes of the values for binary variables.

nValues provides the number of values in the values vector (and valueSizes vector, where applicable) which is only equal to

nValueReferences if all valueReference s point to scalar variables. [The passing of nValues is, strictly speaking, passing redundant

information: The number of values can be reconstructed from the value references passed in and their corresponding variable definitions

and (potentially dynamic) array sizes. It is added to ensure memory safety and other sanity checks to be preserved even in the face of

potential divergence of array configuration.]

The strings returned by

fmi3GetString , as well as the binary values returned by fmi3GetBinary , must be copied by the importer because

the allocated memory for these strings might be deallocated or overwritten by the next call of an FMU function.

It is possible to set the values of variables using the following functions:

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

fmi3Int32 values[],

size_t nValues);

typedef fmi3Status fmi3GetUInt32TYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

fmi3UInt32 values[],

size_t nValues);

typedef fmi3Status fmi3GetInt64TYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

fmi3Int64 values[],

size_t nValues);

typedef fmi3Status fmi3GetUInt64TYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

fmi3UInt64 values[],

size_t nValues);

typedef fmi3Status fmi3GetBooleanTYPE(fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

fmi3Boolean values[],

size_t nValues);

typedef fmi3Status fmi3GetStringTYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

fmi3String values[],

size_t nValues);

typedef fmi3Status fmi3GetBinaryTYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

size_t valueSizes[],

fmi3Binary values[],

size_t nValues);

typedef fmi3Status fmi3GetClockTYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

fmi3Clock values[],

size_t nValues);

typedef fmi3Status fmi3SetFloat32TYPE(fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

const fmi3Float32 values[],

size_t nValues);

typedef fmi3Status fmi3SetFloat64TYPE(fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

const fmi3Float64 values[],

size_t nValues);

typedef fmi3Status fmi3SetInt8TYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

valueReferences is a vector of nValueReferences value handles that define the variables that shall be set.

values is a vector with the actual values of these variables.

valueSizes is a vector with the actual sizes of the values of binary variables.

nValues provides the number of values in the values vector (and valueSizes vector, where applicable) which is only equal to

nValueReferences if all valueReference s point to scalar variables.

With two exceptions, all variables that are allowed to be set with

fmi3Set{VariableType} keep their respective values until the next call to

fmi3Set{VariableType} . Exceptions:

1. Variables of type Clock must be deactivated during

fmi3UpdateDiscreteStates by the FMU.

const fmi3Int8 values[],

size_t nValues);

typedef fmi3Status fmi3SetUInt8TYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

const fmi3UInt8 values[],

size_t nValues);

typedef fmi3Status fmi3SetInt16TYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

const fmi3Int16 values[],

size_t nValues);

typedef fmi3Status fmi3SetUInt16TYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

const fmi3UInt16 values[],

size_t nValues);

typedef fmi3Status fmi3SetInt32TYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

const fmi3Int32 values[],

size_t nValues);

typedef fmi3Status fmi3SetUInt32TYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

const fmi3UInt32 values[],

size_t nValues);

typedef fmi3Status fmi3SetInt64TYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

const fmi3Int64 values[],

size_t nValues);

typedef fmi3Status fmi3SetUInt64TYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

const fmi3UInt64 values[],

size_t nValues);

typedef fmi3Status fmi3SetBooleanTYPE(fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

const fmi3Boolean values[],

size_t nValues);

typedef fmi3Status fmi3SetStringTYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

const fmi3String values[],

size_t nValues);

typedef fmi3Status fmi3SetBinaryTYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

const size_t valueSizes[],

const fmi3Binary values[],

size_t nValues);

typedef fmi3Status fmi3SetClockTYPE (fmi3Instance instance,

const fmi3ValueReference valueReferences[],

size_t nValueReferences,

const fmi3Clock values[],

size_t nValues);

2. By setting the complete FMU state using

fmi3SetFMUState

, all variables are potentially changed.

All strings passed as arguments to fmi3SetString , as well as all binary values passed as arguments to fmi3SetBinary , must be copied

during these function calls, because there is no guarantee of the lifetime of strings or binary values, when these functions return.

2.2.6.3. Handling min/max Range Violations

Attributes min and max can be defined for variables of float, integer or enumeration types. The question is how fmi3Set{VariableType} ,

fmi3Get{VariableType} shall utilize this definition. There are several conflicting requirements:

Avoiding forbidden regions (for example, if

u is an input and "sqrt(u)" is computed in the FMU, min = 0 on u shall guarantee that only

values of

u in the allowed regions are provided). Numerical algorithms (solvers or optimizers) do not guarantee constraints. If a variable

is outside of the bounds, the solver tries to bring it back into the bounds. As a consequence, calling

fmi3Get{VariableType} during an

iteration of such a solver might return values that are not in the defined min/max region. After the iteration is finalized, it is only

guaranteed that a value is within its bounds up to a certain numerical precision.

During system creation and prototyping, checks on min/max should be performed. For maximum performance on production or real-

time systems, these checks might not be performed.

The approach in FMI is therefore that min/max definitions are an information from the FMU to the environment defining the region in

which the FMU is designed to operate. In any case, it is expected that the FMU handles variables appropriately where the region

definition is critical. For example, dividing by an

input (so the input should not be in a small range of zero) or taking the square root of

input (so the input should not be negative) may either result in returning fmi3Discard or fmi3Error , or the FMU is able to handle this

situation in other ways.

If the FMU is generated so that min/max shall be checked whenever meaningful (for example, for debug purposes), then the following

strategy should be used:

fmi3Set{VariableType} is called violating the min/max attribute settings of the corresponding variable, the following actions are

performed:

On a fixed or tunable parameter fmi3Status == fmi3Discard is returned.

On an input , the FMU decides what to return (If no computation is possible, it could return fmi3Status == fmi3Discard , in other

situations it may return

fmi3Warning or fmi3Error , or fmi3OK , if it is uncritical).

If an FMU defines min/max values for integer types and

<Enumeration> variables ( local and output variables), then the expected behavior

of the FMU is that

fmi3Get{VariableType} functions return values in the defined range.

If an FMU defines min/max values, then the expected behavior of the FMU is that

fmi3Get{VariableType} returns values at the solution

(accepted steps of the integrators) in the defined range with a certain uncertainty related to the tolerances of the numerical algorithms.]

2.2.6.4. Getting and Setting the Complete FMU State

The FMU has an internal state consisting of all values that are needed to continue a simulation. This internal state consists especially of

the values of the continuous states, iteration variables,

parameter values, input values, delay buffers, file identifiers, and FMU internal

status information. With the functions of this section, the internal FMU state can be copied and the pointer to this copy is returned to the

environment. The FMU state copy can be set as actual FMU state, in order to continue the simulation from it.

[Examples for using this feature:

For variable step-size control of co-simulation algorithms (get the FMU state for every accepted communication step; if the follow-up step is

not accepted, restart co-simulation from this FMU state).

For nonlinear Kalman filters (get the FMU state just before initialization; in every sample period, set new continuous states from the Kalman

filter algorithm based on measured values; integrate to the next sample instant and inquire the predicted continuous states that are used in

the Kalman filter algorithm as basis to set new continuous states).

For nonlinear model predictive control (get the FMU state just before initialization; in every sample period, set new continuous states from an

observer, initialize and get the FMU state after initialization. From this state, perform many simulations that are restarted after the

initialization with new input variables proposed by the optimizer).]

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