Scott A. Bortoff
Mitsubishi Electric Research Laboratories, Cambridge, MA, USA
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http://dx.doi.org/10.3384/ecp19157333Published in: Proceedings of the 13th International Modelica Conference, Regensburg, Germany, March 4–6, 2019
Linköping Electronic Conference Proceedings 157:34, p. 10
Published: 2019-02-01
ISBN: 978-91-7685-122-7
ISSN: 1650-3686 (print), 1650-3740 (online)
We show by example how Baumgarte’s method can be used in a Modelica model to reduce the differential algebraic equation index prior to compilation. This has advantages for some constrained mechanical systems especially those with closed-chain kinematics, including improved initialization and enabling model-based control system design. We derive models for a simple pendulum, a delta robot and for elevator cable sway as case studies. The models are used for simulation and also for dynamic analysis and to design and realize feedback controllers.
