Model Libraries

The MultiBody library provides 3-dimensional mechanical components to model rigid multibody systems, such as robots, satellites, or vehicles. The library provides basic model classes for rigid bodies, joints, forces, measurement and animation elements. Revolute and prismatic joints can be driven with elements from the one-dimensional mechanics Modelica Standard library. This allows easy modeling of bearing friction, brakes, clutches and stops.

The library includes basic to sophisticated components for modeling power trains. The library can be applied to investigate gearshift transition dynamics of an automatic gearbox or drive cycle fuel consumption predictions. It is well suited for real time, hardware-in-the-loop simulation. The PowerTrain Library consists of gearboxes, such as planetary gearboxes, Ravigneaux wheelset, Lepelletier wheelset, Simpson wheelset, differential gearboxes, Continuously Variable Transmission (CVT), clutches, driver models, car resistance and control units.

The library provides Modelica models to represent flexible bodies such as beams, annular plates with optional thermo-elastic properties and modal bodies that originate from a finite-element (FE) model.

The user can define beam-like structures such as rotor blades by simply parameterizing an analytical model of a straight and homogeneous beam considering two-dimensional bending, torsional and lengthening deformations.The analog approach is also applied to model the bending behavior of annular plates such as an helicopter swash plate. It also supports slide-on-plate nodes that facilitates modeling of sliding contact problems.

The component ModalBody represents flexible bodies of a general geometrical shape. The geometrical and physical properties are defined by a SID (standard input data) file that is generated by an external FE program such as Abaqus. For ModalBody models in real-time environments, the SID-data may be converted into a Modelica package so that external file access is avoided.

The VehicleDynamics library is used to simulate vehicle dynamics behavior and handling. The library contains components such as tires, driver models, struts, wishbones, and anti-roll linkages suspensions as well as complete front and rear suspensions, e.g. MacPherson, Double Wishbone and MultiLink. There are also predefined chassis such as for a midsized sedan car and a Formula 3 racecar that serve as examples of how the parts can be utilized.

The AirConditioning library is a full-featured model library for refrigeration and A/C cycles with typical working media such as R134a and even CO2. It contains advanced two-phase flow and air handling models for all design phases from conceptual design to control implementation.