Modelica驱动的车辆动力学高效建模

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"基于Modelica的车辆动力学建模是一篇重要的研究论文，作者是Shuguang Feng、Jifeng He和Lichen Zhang，他们来自中国东华师范大学的上海可信计算重点实验室。Modelica是一种专门设计用于物理系统建模的语言，它由多个组织的研究人员开发而成。作为面向对象的语言，Modelica的核心在于其非因果方程基础，这使得它能够以直观且生动的方式模拟车辆运动，即使处理复杂的系统也能得心应手。 Modelica的优势在于其统一的框架，允许工程师在一个平台上对不同领域的组件（如电气、机械等）进行集成，从而适用于汽车、航空航天和机器人等机械电子系统的动态分析。由于现代社会中复杂系统日益增多，模型化和仿真变得愈发关键，Modelica作为一门基于方程的语言，为理解和控制车辆动态提供了强大的工具。本文旨在探讨如何利用Modelica来构建车辆动力学模型，包括模型的构建原理、工具应用以及其实现的高效性。通过使用Modelica，研究者们可以方便地分析车辆在行驶过程中的行为，如加速度、转向力矩、轮胎力等，这对于车辆性能优化、安全评估以及控制策略的设计具有重要意义。关键词包括：物理世界建模、面向对象语言、基于方程的语言、车辆动力学。这篇论文不仅介绍了Modelica的基本概念，还可能深入探讨了其在车辆动力学建模中的具体实践方法和应用场景，为相关领域的研究人员和工程师提供了宝贵的参考和实践指导。"

Figure 3. Modelica model structure

2.1 Model program structure

Modelica program structure is such like Figure 2. The simplest model is Figure 3. Within

the blocks model simpleModel and equation, variables can be declared. Within the block between

equation and end simpleModel, equations and connection statements can be put into. In Modelica

not only Model can be declared, but Record, Class, Connector, Function. Everything can also be

treated as an object.

2.2 Object-Oriented Modelica

Modelica is Object-Oriented. There are several objects in Modelica: Class, Model, Connec-

tor, Record, Block, Function. Each type of class can be inherited. Modelica has encapsulation.

The models of system components are connected through rigorously deﬁned interfaces or connec-

tors(e.g. Fluid connectors with pressure, ﬂow rate, and enthalpy, or heat connectors with temper-

atures and heat ﬂuxes). Any two components with compatible connectors can be bound together,

regardless of their internal details.[6] In each class, there can be multi-type classed be declared.

These can help multi-physics modeling.

2.3 Modelica equation

Modelica is equation-based language. From Figure 2 this can be seen that the connection s-

tatements are in equation section. The equations in equation section can help increase reusability

of model components, since components adapt to the data ﬂow context in which they are used.[2]

Without value assignment statements but the equations, the system allows acausal modeling high

level speciﬁcation and increased correctness. For complex systems, equation-based statements can

not only be easily implemented but clearly.[7]

Some work can be more convenient in Modelica, for exmaple, PDE(Partial Diﬀerent Equations)

Models, since Modelica is equation-baed.[8]

3 Vehicle Dynamics library

Modelica can import libraries to model some speciﬁc model.[9, 10]Vehicle Dynamics library is

designed to model physical state of vehicle motion. This way to extend the Modelica environment

is using by many people who wants to model more.[11]

International Journal of Multimedia and Ubiquitous Engineering

Vol. 8, No. 3, May, 2013

309

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