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



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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