Modeling of the ARGESIM “Crane and Embedded Controller” System using the DEVSLib Modelica library

DEVSLib is a free Modelica library, developed by the authors, that supports the Parallel DEVS formalism. The library is mainly designed to model discrete-event systems. It also includes interfaces to communicate the DEVSLib models with the rest of the Modelica libraries. Thus, the library can be used in the development of multi-domain and multi-formalism hybrid models. This manuscript discusses the modeling of the system “Crane and Embedded Controller,” proposed by ARGESIM, using Modelica and DEVSLib. The crane system is composed of a car that moves along a rail and a load connected to the car by a cable. A discrete controller controls the position of the car and its movement. The crane system is implemented in Modelica as a continuous-time model and the discrete controller is constructed using DEVSLib. The communication between the continuous-time and the discrete-event parts is performed using the DEVSLib interfaces. DEVSLib is freely available for download at http://www.euclides.dia.uned.es.