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For modeling with Modelica, commercial software products such as MathModelica (MathCore ) (Figure 2 -10), Dymola (Dynasim 2005 ) or SimulationX (ITI.GmbH 2008 ) have been developed. Also open-source implementations like the OpenModelica system (Fritzson et al. 2002 , Fritzson et al. 2005 , PELAB 2002-2008 ) are available.
The OpenModelica environment is a complete Modelica modeling, compilation and simulation environment based on free software distributed in binary and source code form. The components of the OpenModelica environment are:
MathModelica is an integrated problem-solving environment (PSE) for full system modeling and simulation (Fritzson 2006 ). The environment integrates Modelica-based modeling and simulation with graphic design, advanced scripting facilities, integration of code and documentation, and symbolic formula manipulation provided via Mathematica (Wolfram 2008 ). The MathModelica environment is based on the OpenModelica compiler (OMC) but also provides additional commercial capabilities like graphical editor and simulation center.
Figure 2 10. MathModelica modeling and simulation environment. (courtesy of MathCore AB)
Dymola (Dynamic Modeling Laboratory) described by (Elmqvist et al. 2003 ) is probably one of the most well known multi-domain modeling and simulation environments that supports the Modelica language.
The environment allows the analysis of complex systems that incorporate mechanical, hydraulic, electrical, and thermal components as well as control systems. Dymola does not feature any debugging techniques for possible structural and numerical errors.
For dynamic debugging the simulation environment offers the possibility of logging discrete events. This functionality is useful in tracking down errors in the discrete part of hybrid system models.
The analysis facilities of Dymola concentrate more on profiling. Details of execution times for each block are available. Numeric model instabilities have to be detected in Dymola by directly examining the simulation results.
Figure 2 11. Dymola Modeling and Simulation Environment
(courtesy of Dynasim AB).
Figure 2 12. SimulationX modeling and simulation environment
(courtesy of ITI GmbH)
SimulationX is a software environment for valuation of the interaction of all components of technical systems. SimulationX provides a CAE tool for modeling, simulation and analyzing of physical effects – with ready-to-use model libraries for 1D mechanics, 3D multibody systems, power transmission, hydraulics, pneumatics, thermodynamics, electrics, electrical drives, magnetics as well as controls – post processing included.
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