Modeling of Multibody Systems with the Object-Oriented Modeling Language Dymola

Martin Otter
Institute for Robotics and System Dynamics
German Aerospace Research Establishment Oberpfaffenhofen (DLR)
Postfach 1116
D-82230 Wessling
Germany
Email: Martin.Otter@DLR.DE
Hilding Elmqvist
Dynasim AB
Research Park Ideon
S-223 70 Lund
Sweden
Email: Elmqvist@Dynasim.SE
François E. Cellier
Institute of Computational Science
ETH Zürich
CH-8092 Zürich
Switzerland
Email: FCellier@Inf.ETHZ.CH

Keywords

Object-Oriented Modeling
Multidisciplinary Simulation
Multibody Systems
Variable Structure

Abstract

The object-oriented modeling language Dymola allows the physical modeling of large interconnected systems based on model components from different engineering domains. It generates symbolic code for different target simulators. In this paper, a Dymola class library for the efficient generation of the equations of motion for multibody systems is presented. The library is based on an O(n) algorithm which is reformulated in an object-oriented way. This feature can also be interpreted as a bond graph oriented modeling of multibody systems. Furthermore a new algorithm for a certain class of variable structure multibody systems, such as systems with Coulomb friction, is presented, which allows the generation of efficient symbolic code.

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