Building Software for Simulation: Theory and Algorithms, with Applications in C++

359 Pages·2011·6.28 MB·English

by  James J. Nutaro

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BUILDING SOFTWARE
FOR SIMULATION
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BUILDING SOFTWARE
FOR SIMULATION
Theory and Algorithms,
with Applications in C++
JAMES J. NUTARO
OakRidgeNationalLaboratory
AJOHNWILEY&SONS,INC.,PUBLICATION
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Copyright(cid:1)C 2011byJohnWiley&Sons,Inc.Allrightsreserved.
PublishedbyJohnWiley&Sons,Inc.,Hoboken,NewJersey.
PublishedsimultaneouslyinCanada.
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LibraryofCongressCataloging-in-PublicationData:
Nutaro,JamesJ.
Buildingsoftwareforsimulation:theoryandalgorithmswithapplicationsinC++/JamesJ.Nutaro
p.cm.
Includesbibliographicalreferencesandindex.
ISBN978-0-470-41469-9(cloth)
PrintedintheUnitedStatesofAmerica
10 9 8 7 6 5 4 3 2 1
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CONTENTS
PREFACE ix
1 INTRODUCTION 1
1.1 ElementsofaSoftwareArchitecture / 2
1.2 SystemsConceptsasanArchitecturalFoundation / 4
1.3 Summary / 5
1.4 OrganizationoftheBook / 6
2 FIRSTEXAMPLE:SIMULATINGAROBOTICTANK 7
2.1 FunctionalModeling / 8
2.2 ARoboticTank / 9
2.2.1 EquationsofMotion / 11
2.2.2 Motors,Gearbox,andTracks / 13
2.2.3 CompleteModeloftheTank’sContinuousDynamics / 17
2.2.4 TheComputer / 18
2.2.5 CompleteModeloftheTank / 22
2.3 DesignoftheTankSimulator / 23
2.4 Experiments / 25
2.5 Summary / 30
3 DISCRETE-TIMESYSTEMS 32
3.1 AtomicModels / 33
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3.1.1 Trajectories / 33
3.1.2 TheStateTransitionandOutputFunction / 35
3.1.3 TwoExamplesofAtomic,Discrete-TimeModels / 39
3.1.4 SystemswithBagsforInputandOutput / 42
3.1.5 ASimulatorforAtomicModels / 42
3.2 NetworkModels / 53
3.2.1 ThePartsofaNetworkModel / 54
3.2.2 TheResultantofaNetworkModel / 55
3.2.3 AnExampleofaNetworkModelandItsResultant / 56
3.2.4 SimulatingtheResultant / 61
3.3 ASimulatorforDiscrete-TimeSystems / 77
3.4 Mealy/Moore-TypeSystems / 89
3.5 CellularAutomata / 91
3.6 Summary / 98
4 DISCRETE-EVENTSYSTEMS 100
4.1 AtomicModels / 101
4.1.1 TimeandTrajectories / 101
4.1.2 TheStateTransitionFunction / 103
4.1.3 TheOutputFunction / 105
4.1.4 LegitimateSystems / 106
4.1.5 AnExampleofanAtomicModel / 107
4.1.6 TheInterruptHandlerintheRoboticTank / 110
4.1.7 SystemswithBagsforInputandOutput / 114
4.1.8 ASimulatorforAtomicModels / 114
4.1.9 SimulatingtheInterruptHandler / 118
4.2 NetworkModels / 125
4.2.1 ThePartsofaNetworkModel / 125
4.2.2 TheResultantofaNetworkModel / 126
4.2.3 AnExampleofaNetworkModelandItsResultant / 128
4.2.4 SimulatingtheResultant / 132
4.3 ASimulatorforDiscrete-EventSystems / 143
4.3.1 TheEventSchedule / 144
4.3.2 TheBag / 153
4.3.3 TheSimulationEngine / 157
4.4 TheComputerintheTank / 170
4.5 CellularAutomataRevisited / 176
4.6 Summary / 180
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5 HYBRIDSYSTEMS 182
5.1 AnElementaryHybridSystem / 185
5.2 NetworksofContinuousSystems / 186
5.3 HybridModelsasDiscrete-EventSystems / 187
5.4 NumericalSimulationofHybridSystems / 190
5.5 ASimulatorforHybridSystems / 198
5.6 InteractiveSimulationoftheRoboticTank / 211
5.6.1 CorrectingtheDynamicsofaTurn / 211
5.6.2 ASimplifiedModeloftheMotor / 213
5.6.3 UpdatingtheDisplay / 218
5.6.4 ImplementingtheTankPhysics / 219
5.7 ApproximatingContinuousInteractionBetweenHybridModels / 225
5.8 AFinalCommentonCellularAutomata / 229
5.8.1 DifferentialAutomatawithConstantDerivatives / 229
5.8.2 ModelingAsynchronousCellularAutomatawith
DifferentialAutomata / 230
5.8.3 AHomomorphismfromDifferentialAutomatato
AsynchronousCellularAutomata / 232
5.9 Summary / 236
6 APPLICATIONS 237
6.1 ControlThroughaPacket-SwitchedNetwork / 237
6.1.1 ModelofthePendulumandItsPIDController / 238
6.1.2 IntegrationwithanEthernetSimulator / 244
6.1.3 Experiments / 249
6.2 FrequencyRegulationinanElectricalPowerSystem / 255
6.2.1 Generation / 257
6.2.2 TransmissionNetworkandElectricalLoads / 259
6.2.3 FrequencyMonitoringandLoadActuation / 260
6.2.4 SoftwareImplementation / 261
6.2.5 Experiments / 262
6.3 Summary / 269
7 THEFUTURE 271
7.1 SimulationProgrammingLanguages / 271
7.2 ParallelComputingandDiscrete-EventSimulation / 273
7.3 TheManyFormsofDiscreteSystemsandTheirSimulators / 276
7.4 OtherFacetsofModelingandSimulation / 277
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APPENDIXA DESIGNANDTESTOFSIMULATIONS 279
A.1 DecomposingaModel / 280
A.1.1 Bottom-UpTesting / 280
A.1.2 InvariantsandAssertions / 281
A.2 InputandOutputObjects / 281
A.2.1 SimpleStructures / 282
A.2.2 Unions / 282
A.2.3 PointersandHierarchiesofEvents / 284
A.2.4 MixingStrategieswithModelWrappers / 286
A.3 ReducingExecutionTime / 291
APPENDIXB PARALLELDISCRETEEVENTSIMULATION 296
B.1 AConservativeAlgorithm / 298
B.1.1 Lookahead / 300
B.1.2 TheAlgorithm / 303
B.2 ImplementingtheAlgorithmwithOpenMP / 304
B.2.1 Pragmas,Volatiles,andLocks / 304
B.2.2 OverviewoftheSimulator / 308
B.2.3 TheLogicalProcess / 309
B.2.4 TheMessageQ / 318
B.2.5 TheParSimulator / 321
B.3 DemonstrationofGustafson’sandAmdahl’sLaws / 325
APPENDIXC MATHEMATICALTOPICS 331
C.1 SystemHomomorphisms / 331
C.2 SinusoidalState-SteadyAnalysis / 333
REFERENCES 335
INDEX 345