Model Module#

Model Class#

The Model class serves as a container for all the entities that comprise a MotionSolve model. Interacting with the model is possible through the numerous methods that are listed below.

`Model.control`	Defines a control command for one or more simulations.
`Model.generate_abcd`	Generate a state space representation of the model in the form of state matrices A, B, C, and D in the desired format.
`Model.generate_eigensolution`	Perform eigen-analysis of the model, generate eigenvalues and mode shapes.
`Model.simulate_frequencyResponse`	Performs a frequency response analysis of the model
`Model.generateOutput`	Creates plt and animation h3d files.
`Model.reset`	Reset the model.
`Model.runSimulationEvents`	Run SimulationEvent objects sequentially.
`Model.save_model`	Saves a snapshot of the model.
`Model.simulate`	Sends the model to the solver and runs the simulation.
`Model.verify`	Sends the model to solver and performs a verification analysis.

Model Entities#

The entities listed below are fundamental building blocks for creating your models. These elements reside within the Model class and interact with each other according to well-defined relationships to simulate realistic multibody systems.

Core#

`Debug`	Outputs data that helps you debug your simulation.
`Dv`	Defines a special type of solver state variable.
`Equilibrium`	Specifies error tolerances and other parameters for static and quasi-static equilibrium analyses.
`FlexBody`	Defines a flexible body object in MotionSolve.
`Grid`	Defines a set of nodal coordinates in 3D space.
`Gse`	Defines a generic dynamic system.
`H3dOutput`	Defines the parameters for the animation output file.
`Integrator`	Specifies parameters that control the dynamic analysis integrator.
`Linear`	Specifies the solver parameters that control the linear analysis.
`Lse`	Defines a linear dynamic system.
`Marker`	Defines an orthonormal, right-handed coordinate system and reference frame in MotionSolve.
`NuCMS`	Creates a set of flexible body properties with the goal to more accurately capture the mode shapes based on Predictive Component Mode Synthesis theory.
`Output`	Specifies if the plt, abf, mrf files are to be generated during the solver run.
`Part`	Defines a rigid body object in MotionSolve.
`PointMass`	Defines an entity that has mass but no inertia properties.
`ProximitySensor`	Defines a sensor between two bodies which monitors their minimum separation.
`Request`	Defines an output request entity in MotionSolve.
`Rv`	Defines a special type of solver state variable.
`Scope`	Defines a Scope Plot.
`Sensor`	Defines an event sensor in the model.
`SimulationEvent`	Defines an event in MotionSolve and adds it to a list.
`Transient`	Specifies parameters that control the time-domain-based nonlinear dynamic analysis.
`Units`	Defines the units for the model.
`Uposts`	Defines a user-written Post-Subroutine.
`UserMsg`	Defines a user-written Message-Subroutine.

Forces#

The following classes represent physical forces applied between model elements. These entities are used to simulate mechanical interactions, such as springs, dampers, and user-defined forces.

`Accgrav`	Defines the acceleration due to gravity along the global X, Y, and Z directions.
`Beam`	Defines a straight, massless beam of uniform cross-section acting between two Markers, i and j that belong to two different bodies.
`Bushing`	Defines a massless bushing between two Markers, i and j that belong to two different bodies.
`Contact`	Defines a 3-D contact force between geometries on two rigid or flexible bodies.
`Fforce`	Defines a force or torque in the frequency domain.
`Field`	Applies a translational and rotational action-reaction force between two markers.
`Friction`	Applies frictional forces in a joint.
`Gforce`	Defines a general force and torque acting between two markers.
`Mforce`	Defines a distributed force on a `FlexBody` in MotionSolve.
`Cforce`	Creates a force element which establishes linear force-displacement (stiffness) and/or force-velocity (damping) relationships between markers connected by higher-pair constraints.
`Nforce`	Creates a multi-point force element which establishes linear force-displacement (stiffness) and/or force-velocity (damping) relationships between many markers.
`Pforce`	Defines a penalty force whose purpose is to maintain a soft constraint in the system.
`Sforce`	Defines a force or torque acting between two `Marker`.
`SpringDamper`	Defines a spring damper acting between two `Marker`.
`Vforce`	Defines a vector force that consists of three orthogonal components.
`Vtorque`	Defines a vector torque that consists of three orthogonal components.
`Ptdcvf`	Creates a contact force between a `Marker`
`Dcvcvf`	Creates a contact force between two instances of `DeformableCurve`.
`Dcvsff`	Creates a contact force between a `DeformableCurve` and a `DeformableSurface`.
`Gdsff`	Creates a contact force between a `Graphics` and a `DeformableSurface`.
`Gdcvf`	Creates a contact force between a `Graphics` and a `DeformableCurve`.
`Dsfsff`	Creates a contact force between two `DeformableSurface`.
`Ptdsff`	Creates a soft constraint (force) that attempts to maintain a `Marker` on a `DeformableSurface`.

Constraints#

These classes impose kinematic constraints between parts of the model.

`Coupler`	Defines an algebraic relationship between the degrees of freedom of two or three joints.
`Cvcv`	Defines a (Curve to Curve) higher pair constraint.
`Gear`	Defines a gear constraint between two bodies.
`Gcon`	Specifies a user defined general constraint.
`Joint`	Creates an idealized connector between two bodies.
`Jprim`	Removes degrees of freedom between two bodies by specifying conditions in which the relative translational or rotational motion can occur.
`Motion`	Specifies a system degree of freedom as an explicit function of time.
`Ptcv`	Defines a (Point to Curve) higher pair constraint.
`Ptdcv`	Defines a (Point to Deformable Curve) higher pair constraint.
`Mate`	Specifies general mating constraints between geometric primitives based on
`Ptsf`	Defines a (Point to Surface) higher pair constraint.
`Ptdsf`	Defines a (Point to Deformable Surface) higher pair constraint.
`Cvsf`	Defines a (Curve to Surface) higher pair constraint.
`Sfsf`	Defines a (Surface to Surface) higher pair constraint.

Graphics#

The following classes define visual representations of physical objects or forces. They do not affect simulation results but are useful for debugging, animation, and visualization.

`Arc`	Generates an arc graphic defined by a center marker, a radius or reference marker, and an angle.
`Box`	Creates a rectangular 3D graphic.
`Circle`	Creates a circle graphic defined by a center marker and a radius.
`CurveGraphic`	Creates a curve graphic that represents a `Curve`.
`Cylinder`	Creates a 3D graphic with straight parallel sides and a circular cross-section along the z-axis of the cm `Marker`.
`DeformableCurveGraphic`	Creates a curve graphic that represents a `DeformableCurve`.
`DeformableSurfaceGraphic`	Creates a surface graphic that represents a `DeformableSurface`.
`Ellipsoid`	Creates a 3D graphic where its cross-sectional planes consist of ellipses or circles, with the center aligned to the cm `Marker`.
`External`	Creates a graphic object defined using an external file.
`ForceGraphic`	Creates an arrow representing a force acting on the specified entity.
`Frustum`	Creates a 3D graphic of a portion of a cone.
`LineMesh`	Creates a graphic that connects a number of vertices with straight lines.
`Outline`	Creates line segments between the various cm `Marker`.
`Plane`	Creates a plane graphic expressed in respect to the rm `Marker`.
`PointGraphic`	Creates a graphic point located at the origin of the reference `Marker`.
`RotAxis`	Calculate and display the instantaneous axis of rotation.
`Sphere`	Creates a 3D graphic whose plane sections are circles and cm `Marker` at its center.
`SpringDamperGraphic`	Creates a spring damper geometry.
`SurfaceGraphic`	Creates a surface graphic that represents a `Surface`.
`Triamesh`	Creates a graphic object defined using 'Nodes' and 'Faces'. You can populate
`UserGraphic`	Creates a user-defined (Grasub) geometry.

Control#

The following classes provide convenient methods to create, manage and modify controllers in your models.

`ActivateCoSim`	Activate CoSimulation class
`CoSim`	Performs a one-/two-way coupled Leader/Follower simulation by instantiating separate MotionSolve processes.
`Diff`	Creates a user-defined state variable and defines a first-order differential equation that describes it.
`Fmu`	Creates a Functional Mock-up Interface used for Model Exchange and Co-Simulation.
`Pinput`	Defines the inputs (type `Variable`) to a mechanical system or plant.
`Poutput`	Defines a list of outputs (type `Variable`) to a mechanical system or plant.
`Pstate`	Creates a container for Solver Variables that are used in generating a linear representation of a model about an operating point.
`Tfsiso`	Defines a transfer function as a ratio of two polynomials in the Laplace domain.

Reference Data#

The following classes defined in the ReferenceData module provide reusable data entities like arrays, matrices, curves, and splines, supporting external data input and functional mappings within a MotionSolve model.

`Array`	Specifies a list of instances of type `Variable` (used by other MotionSolve modeling elements) or numerical constants.
`Curve`	Defines a parametric curve in 3D space.
`DeformableCurve`	Specifies a deformable curve that is made to pass through the origins of a specified set of markers, using CUBIC spline interpolation.
`DeformableSurface`	Specifies a deformable surface that is made to pass through the origins of a specified set of markers, using CUBIC spline interpolation.
`FrequencyInput`	Defines a frequency excitation.
`Matrix`	Defines a general, real-valued, M x N matrix for use in MotionSolve.
`Spline`	Defines a 2D or 3D spline for use in MotionSolve.
`String`	Defines a user defined text string in MotionSolve.
`Surface`	Defines a parametric surface element in 3D space.
`Variable`	Defines a variable in terms of a scalar algebraic equation in MotionSolve.

Base Classes#

Base classes are used in class derivation. They group model entities according to their functionality and they cannot be used standalone.

`AnalysisParameters`	Base class for analysis settings objects.
`Body`	Base class for Body objects.
`Command`	Base class for command objects.
`Control`	Base class for control modeling elements.
`CoSimulation`	Base class for CoSimulation.
`Constraint`	Base class for constraint objects.
`Force`	Base class for force objects.
`Generic`	Base class for generic modeling elements.
`Graphics`	Base class for graphic objects.
`PlottingMixin`	Base class for `SimulationResults` and `SimulationResultsHistory`.
`ReferenceData`	Base class for reference data objects.
`SolverOutput`	Base class for output objects.

Class Aliases#

Class aliases are alternative names for specific model entities.

`Dcurve`	alias of `DeformableCurve`
`DeformCurve`	alias of `DeformableCurveGraphic`
`DeformSurface`	alias of `DeformableSurfaceGraphic`
`Dsurface`	alias of `DeformableSurface`
`Flex_Body`	alias of `FlexBody`
`GraCurve`	alias of `CurveGraphic`
`GraForce`	alias of `ForceGraphic`
`GraPoint`	alias of `PointGraphic`
`GraSurface`	alias of `SurfaceGraphic`
`ParamCurve`	alias of `CurveGraphic`
`ParamCurveGraphic`	alias of `CurveGraphic`
`ParamSurface`	alias of `SurfaceGraphic`
`ParamSurfaceGraphic`	alias of `SurfaceGraphic`
`PlantState`	alias of `Pstate`
`Point_Mass`	alias of `PointMass`
`Spdp`	alias of `SpringDamperGraphic`