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FMU Import

The following sections describe how to import and configure FMUs in Simulink models with FMI Kit.

Add an FMU to a Model

  1. open the Simulink library browser (View > Library Browser) and drag the FMU block from the FMI Kit library into your model
  2. double-click the FMU block
  3. click the Load button and select the FMU
  4. click OK

Overview Tab

The FMU is automatically extracted to the directory specified under Advanced > Unzip Directory. This directory must remain in the same relative path when the model is moved to different directory or machine.

For FMI 2.0 FMUs that support both model exchange and co-simulation the interface type can be selected.

Variables & Start Values

Variables Tab

The Variables tab shows all variables of the FMU. Input variables are marked with an arrow on the left, output variables with an arrow on the right of the icon.

The start value, unit and description of the variable (if provided) are displayed in the Start, Unit and Description columns.

To change the start value of a variable click into the respective field in the Start column and enter an expression that evaluates to the respective type of variable. Changed start values are indicated by bold text. To reset the start value to its default simply clear the Start field.

Variable Type Example
Float 2*pi
Integer -11
Boolean true
Enumeration 3
String 'C:\Temp\Resources'

To get the start value for the variable step for the current block in MATLAB enter

step = FMIKit.getStartValue(gcb, 'step')

to set the start value enter

FMIKit.setStartValue(gcb, 'step', 'true')

Output Ports

Output Ports Tab

By default the block has the output ports defined by the FMU.

  • to add a single variable as an output port double-click it in the left view
  • to add multiple variables as scalar output ports select the variables in the left view and click + Scalar
  • to add multiple variables as a vector output port select the variables in the left view and click + Vector
  • to remove output ports select the ports in the right view and click -
  • to move an item in the right view select it and use the up and down buttons
  • to restore the default output ports click the reset button

Advanced Settings

On the advanced tap you can change additional settings for the FMU block

Advanced Tab

Unzip Directory

The folder where the FMU is extracted. The path can be absolute or relative to the model file. To use a custom path change this field before loading an FMU.

Sample Time

The sample time for the FMU block (use 0 for continuous and -1 for inherited).

Relative Tolerance

The relative tolerance for a Co-Simulation FMU (use 0 for the default tolerance). For Model Exchange FMUs the relative tolerance is the value of RelTol for variable step and 0 for fixed step solvers.

Log Level

The lowest status code that is logged.

Log File

Redirect the log messages to this file if Log to File is checked.

Enable Debug Logging

Enable the FMU's debug logging.

Log FMI calls

Log all FMI calls to the FMU.

Use Source Code

If checked a source S-function sfun_<model_name>.c is generated from the FMU's source code which gets automatically compiled when the Apply or OK button is clicked. For FMI 1.0 this feature is only available for FMUs generated with Dymola 2016 or later.

With source code FMUs it is also possible to use FMUs in Rapid Accelerator mode and create target code for RSIM, GRT, ds1005, ds1006 Scalexio platforms.

MATLAB Commands

Get the Model Description

Use FMIKit.getModelDescription() to retrieve information about an FMU without loading or extracting it.

md = FMIKit.getModelDescription('BooleanNetwork1.fmu')

Get Start Values

Use FMIKit.getStartValue() to get the start values of an FMUs variables:

step = FMIKit.getStartValue(gcb, 'step')

Set Start Values

To set the start values for one or more variables use FMIKit.setStartValue().

FMIKit.setStartValue(gcb, 'step', true, 'y', 'sqrt(2)')

sets the start value of variable step to true and y to sqrt(2). Start values can be logical, double, int32 or expressions.

FMIKit.setStartValue(gcb, 'step', [])

resets the start value of variable step to its default start value.

FMIKit.setStartValue(gcb, 'u', [1 2 3]')

sets the variables u[1] = 1, u[2] = 2 and u[3] = 3.

FMIKit.setStartValue(gcb, 'table', [1 2 3; 4 5 6])

sets the variables table[1,1] = 1 ... table[2,3] = 6.

Load FMUs

With FMIKit.loadFMU() an FMU can be (re)loaded by the FMU block.

FMIKit.loadFMU(gcb, 'Controller.fmu')

loads the FMU Controller.fmu into the current FMU block.

Change the Interface Type

The Interface Type of the FMU block can be changed with

FMIKit.setInterfaceType(gcb, 'CoSimulation');

Change the Output Ports

Use FMIKit.setOutputPorts() to change the output ports of an FMU block. The following commands add the variable x as a 1x1 output port out1 and the variables y1 and y2 as a 2x1 output port out2 to the current block.

ports.label = 'out1';
ports.variables = { 'x' };
ports(2).label = 'out2';
ports(2).variables = { 'y1', 'y2' };

FMIKit.setOutputPorts(gcb, ports)

Use Source Code

Use FMIKit.setSourceCode() to use FMU's source code (if available):

FMIKit.setSourceCode(gcb, true)

Set the Relative Tolerance

Use FMIKit.setRelativeTolerance() to set the relative tolerance for the embedded solver of a Co-Simulation FMU:

FMIKit.setRelativeTolerance(gcb, '1e-3')

Calling sequence

The S-function sfun_fmurun associated to the FMU block loads and connects the FMU to Simulink's simulation loop by setting its inputs and retrieving its outputs. The S-function's mdl* callbacks in which the respective FMI functions are called depend on the interface type of the FMU and are described below.

Co-Simulation calling sequence

For Co-Simulation all input variables are set in mdlUpdate and all output variables are retrieved in mdlOutputs. Direct feedthrough is disabled for all input ports.

Model Exchange calling sequence

For Model Exchange direct feedthrough is enabled for an input port if any output variable declares a dependency on the corresponding input variable in the <ModelStructrue>. If any internal variable is added to the outputs of the FMU block direct feedthrough is enabled for all input ports. Input variables with direct feedthrough enabled are set in mdlDerivatives, mdlZeroCrossings and mdlOutputs. In mdlUpdate all input variables are set.

UserData struct

The information from the block dialog is stored in the parameter UserData of the FMU block:

>> ud = get_param(gcb, 'UserData')

ud =

      fmiKitVersion: '2.4'
            fmuFile: 'Rectifier.fmu'
    fmuLastModified: 1.5548e+12
     unzipDirectory: 'Rectifier'
          runAsKind: 1
         sampleTime: '-1'
         inputPorts: [0x0 struct]
        outputPorts: [1x4 struct]
        startValues: [0x1 containers.Map]
       debugLogging: 0
   errorDiagnostics: 'ignore'
      useSourceCode: 0
       setBlockName: 0
       functionName: 'sfun_fmurun'
         parameters: [1x252 char]

>> ud.outputPorts(2)

ans =

        label: 'iAC'
    variables: {'iAC[1]'  'iAC[2]'  'iAC[3]'}
Field Type Description
fmiKitVersion char FMI Kit version that imported the FMU
fmuFile char Path to the imported FMU
fmuLastModified double Last modification data of the FMU
unzipDirectory char Path to the extracted FMU
runAsKind int The FMI Type of the FMU (0 = Model Exchange, 1 = Co-Simuliation)
sampleTime char The sample time of the block
relativeTolerance char Relative tolerance for the solver of co-simulation FMUs
inputPorts struct Struct that holds the input ports and associated variables
outputPorts struct Struct that holds the output ports and associated variables
startValues containers.Map Map of variable names -> start values
debugLogging bool Enable debug logging on the FMU instance
errorDiagnostics char Diagnostics level ('ignore', 'warning', 'error')
useSourceCode bool Compile the FMU from source code
functionName char Name of the S-function
parameters char Parameters for the S-function