Modeling of Multibody Systems
with the Object-Oriented Modeling Language Dymola
- Object-Oriented Modeling
- Multidisciplinary Simulation
- Multibody Systems
- Variable Structure
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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