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Modeling of multibody systems with the object-oriented modeling language Dymola

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Abstract

The object-oriented modeling language Dymola allows the physical modeling of large interconnected systems based on model components fromdifferent engineering domains. It generatessymbolic 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 aO(n) algorithm which is reformulated in an objectoriented way. This feature can also be interpreted as a bond graph oriented modeling of multibody systems. Furthermore a new algorithm for a certain class ofvariable structure multibody systems, such as systems with Coulomb friction, is presented, which allows the generation of efficient symbolic code.

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Authors and Affiliations

  1. Institute for Robotics and System Dynamics, German Aerospace Research Establishment Oberpfaffenhofen (DLR), Postfach 1116, D-82230, Wessling, Germany

    M. Otter

  2. Dynasim AB, Research Park Ideon, S-223 70, Lund, Sweden

    H. Elmqvist

  3. Department of Electrical and Computer Engineering, The University of Arizona, 85721, Tucson, AZ, USA

    F. E. Cellier

Authors
  1. M. Otter
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  2. H. Elmqvist
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  3. F. E. Cellier
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Otter, M., Elmqvist, H. & Cellier, F.E. Modeling of multibody systems with the object-oriented modeling language Dymola. Nonlinear Dyn 9, 91–112 (1996). https://doi.org/10.1007/BF01833295

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  • DOI: https://doi.org/10.1007/BF01833295

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