>241& >3&2.(= 4)*1.3,=&'47&947> 8*78=&3:&1 Dymola Dynamic Modeling Laboratory User’s Manual Version 5.3a © Copyright 1992-2004 by Dynasim AB. All rights reserved. Dymola is a trademark of Dynasim AB. Dymola is a registered trademark of Dynasim AB in Sweden. Modelica is a registered trademark of the Modelica Association. Dynasim AB Research Park Ideon SE-223 70 Lund Sweden E-mail: [email protected] URL: http://www.Dynasim.com Phone: +46 46 2862500 Fax: +46 46 2862501 Contents What is Dymola? . 13 Features of Dymola . 13 Architecture of Dymola . 14 Basic Operations . 14 Simulating an existing model . 15 Building a model . 16 Features of Modelica . 19 Background . 19 Equations and reuse . 19 Modelica history . 20 Getting started with Dymola . 23 Introduction . 23 Simulating a model — industrial robot . 24 Simulation . 32 Other demo examples . 33 Solving a non-linear differential equation . 33 Simulation . 36 Improving the model . 40 5 Using the Modelica Standard Library . 42 The Modelica Standard Library . 43 Creating a library for components . 48 Creating a model for an electric DC motor . 49 Testing the model . 56 Creating a model for the motor drive . 59 Parameter expressions . 61 Building a mechanical model . 65 Introduction to Modelica . 73 Modelica basics . 73 Variables . 74 Connectors and connections . 75 Partial models and inheritance . 75 Acausal modeling . 76 Background . 76 Differential-algebraic equations . 78 Advanced modeling features . 79 Vectors, matrices and arrays . 79 Class parameters . 79 Algorithms and functions . 81 Hybrid modeling in Modelica . 81 Synchronous equations . 82 Relation triggered events . 85 Variable structure systems . 86 Initialization of models . 90 Basics . 90 Continuous time problems . 91 Parameter values . 95 Discrete and hybrid problems . 96 Example: Initialization of discrete controllers . 97 Standard libraries . 100 Summary . 101 References . 101 Developing a model . 107 General concepts . 107 Window types . 107 Class layers . 111 6 Class documentation . 112 Coordinate system . 113 Model editing . 114 Basic operations . 114 Components and connectors . 115 Connections . 121 Creating graphical objects . 123 Changing graphical attributes . 124 Modelica text . 125 Documentation . 126 HTML documentation ..