Modeling of Multibody Systems
with the Object-Oriented Modeling Language Dymola
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 efficient symbolic code for
different target simulators. In this paper, a Dymola class library for the
generation of the equations of motion for multibody systems is presented. The
library is based on a reformulated O(n) algorithm such that the algorithm
is truly object-oriented. 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 is
presented, which allows the generation of efficient symbolic code.
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