Article | Proceedings of the 13th International Modelica Conference, Regensburg, Germany, March 4–6, 2019 | Using Baumgarte’s Method for Index Reduction in Modelica Linköping University Electronic Press Conference Proceedings
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Title:
Using Baumgarte’s Method for Index Reduction in Modelica
Author:
Scott A. Bortoff: Mitsubishi Electric Research Laboratories, Cambridge, MA, USA
DOI:
10.3384/ecp19157333
Download:
Full text (pdf)
Year:
2019
Conference:
Proceedings of the 13th International Modelica Conference, Regensburg, Germany, March 4–6, 2019
Issue:
157
Article no.:
034
Pages:
10
No. of pages:
333-342
Publication type:
Abstract and Fulltext
Published:
2019-02-01
ISBN:
978-91-7685-122-7
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


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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.

Keywords: DAE, index reduction, robotics, control

Proceedings of the 13th International Modelica Conference, Regensburg, Germany, March 4–6, 2019

Author:
Scott A. Bortoff
Title:
Using Baumgarte’s Method for Index Reduction in Modelica
DOI:
http://dx.doi.org/10.3384/ecp19157333
References:
No references available

Proceedings of the 13th International Modelica Conference, Regensburg, Germany, March 4–6, 2019

Author:
Scott A. Bortoff
Title:
Using Baumgarte’s Method for Index Reduction in Modelica
DOI:
https://doi.org10.3384/ecp19157333
Note: the following are taken directly from CrossRef
Citations:
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Last updated: 2019-06-04