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 used to create your model. These elements co-exist under the Model class and interact with each other in well-defined ways in order to represent a realistic multibody system.

`Accgrav`	Defines the acceleration due to gravity along the global X, Y, and Z directions.
`Arc`	Generates an arc graphic defined by a center marker, a radius or reference marker, and an angle.
`Array`	Specifies a list of instances of type `Variable` (used by other MotionSolve modeling elements) or numerical constants.
`Beam`	Defines a straight, massless beam of uniform cross-section acting between two Markers, i and j that belong to two different bodies.
`Box`	Creates a rectangular 3D graphic.
`Bushing`	Defines a massless bushing between two Markers, i and j that belong to two different bodies.
`Cforce`	Creates a force element which establishes linear force-displacement (stiffness) and/or force-velocity (damping) relationships between markers connected by higher-pair constraints.
`Circle`	Creates a circle graphic defined by a center marker and a radius.
`CoSim`	Performs a one-/two-way coupled Leader/Follower simulation by instantiating separate MotionSolve processes.
`Contact`	Defines a 3-D contact force between geometries on two rigid or flexible bodies.
`Coupler`	Defines an algebraic relationship between the degrees of freedom of two or three joints.
`Curve`	Defines a parametric curve in 3D space.
`CurveGraphic`	Creates a curve graphic that represents a `Curve`.
`Cvcv`	Defines a (Curve to Curve) higher pair constraint.
`Cvsf`	Defines a (Curve to Surface) higher pair constraint.
`Cylinder`	Creates a 3D graphic with straight parallel sides and a circular cross-section along the z-axis of the cm `Marker`.
`Dcvcvf`	Creates a contact force between two instances of `DeformableCurves`.
`Dcvsff`	Creates a contact force between a `DeformableCurve` and a `DeformableSurface`.
`Debug`	Outputs data that helps you debug your simulation.
`DeformableCurve`	Specifies a deformable curve that is made to pass through the origins of a specified set of markers, using CUBIC spline interpolation.
`DeformableCurveGraphic`	Creates a curve graphic that represents a `DeformableCurve`.
`DeformableSurface`	Specifies a deformable surface that is made to pass through the origins of a specified set of markers, using CUBIC spline interpolation.
`DeformableSurfaceGraphic`	Creates a surface graphic that represents a `DeformableSurface`.
`Diff`	Creates a user-defined state variable and defines a first-order differential equation that describes it.
`Dsfsff`	Creates a contact force between two `Deformable Surfaces`.
`Dv`	Defines a special type of solver state variable.
`Ellipsoid`	Creates a 3D graphic where its cross-sectional planes consist of ellipses or circles, with the center aligned to the cm `Marker`.
`Equilibrium`	Specifies error tolerances and other parameters for static and quasi-static equilibrium analyses.
`External`	Creates a graphic object defined using an external file.
`Fforce`	Defines a force or torque in the frequency domain.
`Field`	Applies a translational and rotational action-reaction force between two markers.
`FlexBody`	Defines a flexible body object in MotionSolve.
`Fmu`	Creates a Functional Mock-up Interface used for Model Exchange and Co-Simulation.
`ForceGraphic`	Creates an arrow representing a force acting on the specified entity.
`FrequencyInput`	Defines a frequency excitation.
`Friction`	Applies frictional forces in a joint.
`Frustum`	Creates a 3D graphic of a portion of a cone.
`Gcon`	Specifies a user defined general constraint.
`Gdcvf`	Creates a contact force between a `Graphics` and a `DeformableCurve`.
`Gdsff`	Creates a contact force between a `Graphics` and a `DeformableSurface`.
`Gear`	Defines a gear constraint between two bodies.
`Gforce`	Defines a general force and torque acting between two markers.
`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.
`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.
`LineMesh`	Creates a graphic that connects a number of vertices with straight lines.
`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.
`Mate`	Specifies general mating constraints between geometric primitives based on
`Matrix`	Defines a general, real-valued, M x N matrix for use in MotionSolve.
`Mforce`	Defines a distributed force on a `FlexBody` in MotionSolve.
`Motion`	Specifies a system degree of freedom as an explicit function of time.
`MQTT_pub`	Defines a publisher for MQTT communication.
`MQTT_variable`	Defines a subscriber client for MQTT communication.
`Nforce`	Creates a multi-point force element which establishes linear force-displacement (stiffness) and/or force-velocity (damping) relationships between many markers.
`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.
`Outline`	Creates line segments between the various cm `Markers`.
`Output`	Specifies if the plt, abf, mrf files are to be generated during the solver run.
`Part`	Defines a rigid body object in MotionSolve.
`Pforce`	Defines a penalty force whose purpose is to maintain a soft constraint in the system.
`Pinput`	Defines the inputs (type `Variable`) to a mechanical system or plant.
`Plane`	Creates a plane graphic expressed in respect to the rm `Marker`.
`PlottingMixin`	Base class for `SimulationResults` and `SimulationResultsHistory`.
`PointGraphic`	Creates a graphic point located at the origin of the reference `Marker`.
`PointMass`	Defines an entity that has mass but no inertia properties.
`Poutput`	Defines a list of outputs (type `Variable`) to a mechanical system or plant.
`ProximitySensor`	Defines a sensor between two bodies which monitors their minimum separation.
`Pstate`	Creates a container for Solver Variables that are used in generating a linear representation of a model about an operating point.
`Ptcv`	Defines a (Point to Curve) higher pair constraint.
`Ptdcv`	Defines a (Point to Deformable Curve) higher pair constraint.
`Ptdcvf`	Creates a contact force between a `Marker`
`Ptdsf`	Defines a (Point to Deformable Surface) higher pair constraint.
`Ptdsff`	Creates a soft constraint (force) that attempts to maintain a `Marker` on a `DeformableSurface`.
`Ptsf`	Defines a (Point to Surface) higher pair constraint.
`Request`	Defines an output request entity in MotionSolve.
`RotAxis`	Calculate and display the instantaneous axis of rotation.
`Rv`	Defines a special type of solver state variable.
`Scope`	Defines a Scope Plot.
`Sensor`	Defines an event sensor in the model.
`Sforce`	Defines a force or torque acting between two `Markers`.
`Sfsf`	Defines a (Surface to Surface) higher pair constraint.
`SimulationEvent`	Defines an event in MotionSolve and adds it to a list.
`Sphere`	Creates a 3D graphic whose plane sections are circles and cm `Marker` at its center.
`Spline`	Defines a 2D or 3D spline for use in MotionSolve.
`SpringDamper`	Defines a spring damper acting between two `Markers`.
`SpringDamperGraphic`	Creates a spring damper geometry.
`String`	Defines a user defined text string in MotionSolve.
`Surface`	Defines a parametric surface element in 3D space.
`SurfaceGraphic`	Creates a surface graphic that represents a `Surface`.
`Tfsiso`	Defines a transfer function as a ratio of two polynomials in the Laplace domain.
`Transient`	Specifies parameters that control the time-domain-based nonlinear dynamic analysis.
`Triamesh`	Creates a graphic object defined using 'Nodes' and 'Faces'. You can populate
`Units`	Defines the units for the model.
`Uposts`	Defines a user-written Post-Subroutine.
`UserGraphic`	Creates a user-defined (Grasub) geometry.
`UserMsg`	Defines a user-written Message-Subroutine.
`Variable`	Defines a variable in terms of a scalar algebraic equation in MotionSolve.
`Vforce`	Defines a vector force that consists of three orthogonal components.
`Vtorque`	Defines a vector torque that consists of three orthogonal components.
`Yforce`	Creates a Force State Equation.

Result Objects#

msolve has special classes and methods to extract and store the results of a simulation. These objects provide a practical and convenient platform for post-processing.

The following process map explains the different ways you can obtain the results of a simulation.

Comments

SimulationResults and SimulationResultsHistory are the classes tasked with managing the results of the simulation.

`SimulationResults`	Container object that encloses all the results from a single simulation.
`SimulationResultsHistory`	A list that can be used to store, serialize and de-serialize SimulationResults for cross plotting.

Run a SimulationEvent or use the Model.simulate method with the returnResults attribute set to True. This instructs msolve to store the results to a SimulationResults object and return it to the caller.
Run a SimulationEvent or use the Model.simulate method with store attribute set to True. This instructs msolve to add the SimulationResults object to a list, SimulationResultsHistory.
Use the SimulationResults.asDataFrame method to get the results as a dictionary of Pandas dataframes.

Use the SimulationResults.getObject method, specifying the entity whose results are to be extracted.

This entity can be a Body, a Request, a FrequencyInput, or a Rv.

Depending on the type of entity a ResultObject is returned. It can be one of:

`ResultObject`	Base class for all the result objects of a simulation.
`BodyResult`	Contains all the results associated with a single Part of the model.
`FrfBodyResult`	Frequency Response Simulation results for body.
`FlexBodyResult`	Contains results associated with a single FlexBody of the model.
`PointMassResult`	Contains all the results associated with a single PointMass of the model.
`RequestResult`	Contains all the results associated with a single Request of the model.
`FrfRequestResult`	Contains all the results associated with a single Request of the model for a FrequencyResponse analysis.
`FrfFrequencyResult`	Frequency Response Simulation results for FrequencyInput.
`RvResult`	Contains all the results associated with a single Rv of the model.

Use one of the methods ResultObject.getStep, ResultObject.getDataFrame, ResultObject.getComponent to extract the desired results.

Note

There is a wide range of libraries available in python for data post-processing, that can be used in conjunction with msolve.

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.
`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`