International Conference on Renewable Energy Research and Applications
Design and Simulation of a SCADA System using
SysML and Simulink
Dogan GEZER1,2, Hakki Ozgur UNVER1, Yigit TASCIOGLU1, Kutay CELEBIOGLU1, Selin ARADAG1
1 2
TOBB University of Economics and Technology
Dept. of Mechanical Engineering
Ankara, Turkey
dgezer@etu.edu.tr, hounver@etu.edu.tr
ytascioglu@etu.edu.tr, kcelebioglu@etu.edu.tr
saradag@etu.edu.tr
Abstract—This paper describes a methodology and a case study
through which system architecture and dynamic models of
related system components are gathered in order to design and
simulate the SCADA system of a new hydro turbine test
laboratory. System architecture model is prepared in System
Modeling Language, a system modeling language based on
Unified Modeling Language, while the dynamic model of the
laboratory is formed in Matlab/Simulink. Some simulations are
performed in order to verify the preliminary system design
studies and system requirements.
Keywords-System Modeling Language (SysML); SCADA
system;
I. INTRODUCTION
System engineering is an engineering approach that focuses
on design and management of interdisciplinary and generally
complex projects. System engineering is a top-down process
considering the success of the system by concentrating the
whole [1]. As the project gets larger, it becomes more difficult
to deal with coordination and traceability of the project.
Therefore, a need of a flexible and standard tool for system
engineering has emerged. In 2001, Model Driven System
Design workgroup of International Council on Systems
Engineering (INCOSE) decided to adapt Unified Modeling
Language (UML), a modeling language for software
engineering which involves graphical notational techniques to
model object-oriented software application visually, for the
field of system engineering [2]. System engineers who used
UML for general-purpose visual modeling had to model
additional concepts in other modeling tools which made
integration and traceability of these models difficult. In 2003,
Object Management Group (OMG) requested proposals for
customization of UML in order to support modeling of various
systems including hardware, software, data, personnel,
procedures and facilities. Only one proposal based on UML 2.0
was submitted to that request. Main aim of this submission was
to use UML 2.0 as much as possible and not to make any
changes unless absolutely necessary [3]. Those efforts resulted
in System Modeling Language (SysML) which is a general
978-1-4799-1464-7/13/$31.00 ©2013 IEEE
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Madrid, Spain, 20-23 October 2013
TUBITAK Marmara Research Center
Energy Institute
Ankara, Turkey
dogan.gezer@tubitak.gov.tr
purpose graphical modeling language for specifying, analyzing,
designing and verifying complex projects including hardware,
software, information, communication and interface
components [4].
Dynamic modeling of a system is a very critical link
between system design and implementation where
computational approaches and mathematical representations
are used. Dynamic system models include internal dynamics
and memory of past states as distinct from static system models
which focus on time-invariant system features.
A new technology center, named TOBB ETU Hydroturbine
Design and Test Center, is built in Ankara, Turkey to develop
hydropower technology on national level, as the most plentiful
and used renewable energy resource in Turkey. This laboratory
is planned to have a 2 MW testing capacity for hydro turbines
which is 25 % greater than the known highest testing capacity
in the world. Design studies for the SCADA system of the
laboratory continues in coordination with the design of the
electromechanical components of the test set-up. The SCADA
system is responsible of real-time control, data acquisition and
the other requirements mentioned in following sections.
In order to validate the complex system behavior of the
SCADA system which is defined in the SysML model, it is
necessary to test, verify and simulate the SysML model with
the help of the dynamic model generated in Matlab/Simulink.
Simulations performed in dynamic model give an idea on
whether the system preliminary design satisfies the
requirements or not.
The similarities and the differences between SysML and
UML are explored expressing that SysML only provides a set
of useful systems engineering extensions to the UML and
SysML is simply not a new language [5]. Considering the
system design in SysML, in [6], the design of a packaging
machine on a SysML-based methodology is mentioned. An
extension to SysML that enables continuous-time behavior
description and thus enables co-simulation with
Matlab/Simulink is proposed in [7]. In [8], control system of a
transmission system is designed with SysML and Simulink.
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Figure 1. Diagram taxonomy of SysML
The rest of the paper is organized as follows: In Section II
the development of the system architecture model using
SysML is explained. The details of the dynamic model in
Simulink are presented in Section III. Simulation scenarios and
the results are provided in Section IV. Section V concludes the
paper.
II. SYSTEM ARCHITECTURE MODELING USING
SYSML
The main aim of SysML is to provide simple however
effective constructs for modeling a wide range of system
engineering problems. In particular, SysML is very powerful
for specifying requirements, structure, behavior, allocations
and parameters while supporting multiple processes and
methods [9].
SysML defines nine types of diagrams included in groups
as Behavior, Requirement and Structure diagram. Diagram
taxonomy of SysML is shown in Figure 1. As noticed, some of
the diagrams are inherited from UML, some are extensions of
UML and two of them are new diagram types.
The SCADA system of the laboratory is divided into two
levels as station level and local control level. Project servers,
data loggers and workstations are at the station level and
Figure 3. Block Definition Diagram of the Laboratory
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Figure 2. Requirement Diagram
operators give setpoints and sequence start and stop commands
through operator screens. The local control level is composed
of the controllers, input/output (I/O) modules, communication
and function modules and the energy analyzers. Data exchange
between site equipment and I/O modules is achieved through
hardwired signals. AC Motors and pumps are controlled in
order to provide desired water pressure and flow conditions.
AC Motors are fed through AC bus which is connected to the
electric grid. The SCADA system controls the amount of water
passing through the turbine under adjusted water pressure
conditions. The turbine being tested and the DC machine are
coupled and the speed of the DC machine is determined by the
turbine. DC power generated by the DC machine is converted
into AC power by an inverter.
A. Requirement Diagram
A requirement defines a capability or a condition to be
satisfied. In a SysML model, it is possible to express text-based
requirements on graphics, tables or with the help of a tree
structure. In a requirement diagram, requirements and their
relationships with other system elements are defined.
Requirements satisfied by the SCADA system and its sub-
components are shown for each requirement block in Figure 2.
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Figure 4. Internal Block Diagram of the SCADA System
B. Block Definition Diagram
Block definition diagram is used for defining features of
the block which are modular units of system description and
relationships between them including associations,
generalizations and dependencies. The block diagram of the
laboratory is shown in Figure 3, including the system
elements and quantities of each element in the system.
C. Internal Block Diagram
In SysML, internal block diagram shows the internal
structure of a block in details with properties and
connections between those properties. In Figure 4, internal
block diagram of the SCADA system are seen. I/O modules,
energy analyzer, project server, workstation and time
synchronization server are all included in the SCADA
system and their data exchange media with the main
controller are backplane, Profibus (DP) and Ethernet.
D. Parametric Diagram
In parametric diagrams, block properties are constrained
through constraint blocks. A constraint block defines an
objective function by which alternative solutions are
compared.
Figure 5. Use Case Diagram for Operation and Maintenance
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E. Use cases
The usage of a component modeled in SysML model by
an environmental effect is visualized by use case diagrams
on which selected actors realize a desired goal. Use case
diagrams include actors, use case and relationships such as
communication, include, extend and generalization. Figure 5
shows the use cases for the SCADA system.
F. Activity Diagram
Activity diagrams are used for expressing inputs, outputs,
sequences and conditions in order to coordinate other
behaviors and activities in terms of sequence of actions.
G. State Diagram
State diagram is used for modeling discrete behavior in
terms of transitions and states. The SCADA system defines
the state of the laboratory as standstill, no-load operation and
load operation as could be seen in Figure 6.
H. Package Diagram
Package diagram is composed of packageable elements
and it establishes the relations between these elements.
Figure 6. State Diagram of the Laboratory
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International Conference on Renewable Energy Research and Applications Madrid, Spain, 20-23 October 2013

Figure 7. Sequence Diagram of SCADA System

I. Sequence Diagram
Setpoints are given at the station level. PID controller in
Sequence diagram is a good way of showing interactions
local control level sends position set point to servo drive and
through flow of control between actors and components.
thus controls wicket gates in order to adjust water flow into
Messages or data exchanged through the focused scenario
the turbine. At the same time, the local controller keeps the
are displayed in a chronological order. The sequence
oil pressure in the system at a predefined level by controlling
diagram for unit start-up is shown in Figure 7.
the motor and the pumps of high pressure oil system.

III. DYNAMIC SYSTEM MODELING USING SIMULINK
The dynamic system model of the laboratory is generated
in Matlab/Simulink. Dynamic model is composed of models
of laboratory equipment and interactions between them as
shown in Figure 8 generically.
AC motors and the pumps are fed from the AC grid and
controlled by the SCADA system in order to provide
constant hydraulic pressure to test the turbine [10].
DC machine and external excitation of the DC machine is
used for generating DC power and regulating voltage output
of the machine terminals. Through the inverter, DC voltage
is changed into AC voltage which has magnitude and
frequency of the grid.

IV. SIMULATION
The startup of the turbine by controlling the high pressure
oil system and wicket gates in the dynamic model generated
in Simulink is shown in Figure 9.
Startup of Turbine
1

0.9

0.8

0.7
Turbine Speed (pu)

0.6

0.5

0.4

0.3

0.2

0.1

0
0 5 10 15 20 25 30
Time (seconds)

Figure 8. Generic Components of Dynamic Model Figure 9. Startup of the Turbine

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Change in Valve Opening Change in Motor Speed

1 1.05

0.8
Valve Opening (pu)

0.6

Speed (pu)
1

0.4

0.2

0 0.95
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
Time (seconds) Time (seconds)
Change in Pump Pressure Change in Mechanical Power
1.01
1

1.005 0.8

Mechanical Power (pu)

Pressure (pu)

0.6
1

0.4

0.995
0.2

0.99 0
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
Time (seconds) Time (seconds)

Figure 10. Changes in motor-pump system: a) Change in Valve Opening, b) Change in Pump Pressure, c) Change in Motor Speed, d) Change in Mech. Power

In order to investigate the functionality of the motor and REFERENCES

pump set in the hydraulic system, valve openings are
changed and the variations in pump pressure, speed and
mechanical power of the motor which is coupled to the pump
are shown in Figure 10.
V.
In this paper, preliminary design studies of a hydro
turbine design and test laboratory through generation of
system architecture model in SysML and system dynamic
model generated in Matlab/Simulink are explained.
Considering the results of the simulations in Simulink,
system requirements and electromechanical equipment’s
specifications are verified as well as successful operation of
the laboratory equipment individually and as a whole are
validated.
ACKNOWLEDGMENTS
The design and the construction of the Hydroturbine test
facility is financially supported by Turkish Ministry of
Development and TOBB.
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