Nonlinear State Estimation with an Extended FMI 2.0 Co-Simulation Interface

Abstract

In this paper we propose a method how to automati- cally utilize continuous-time Modelica models di- rectly in nonlinear state estimators. The approach is based on an extended FMI 2.0 Co-Simulation Inter- face [1] that interacts with the state estimation algo- rithms implemented in a Modelica library [2]. Be- sides a short introduction to Kalman Filter based state estimation, we give details on a generic inter- face to cooperate with FMUs in Modelica, an im- plementation of nonlinear state estimation based on this interface, and the Dymola prototype used for the evaluation. Finally we show first results in a tire load estimation application [3] for DLR’s robotic electric research platform ROMO [4].