HYBRSIM - A Modeling and Simulation Environment for Hybrid Bond Graphs
Pieter J. Mosterman
Institute for Robotics and Mechatronics
Bond graphs are a powerful formalism to model continuous
dynamics of physical systems.
Hybrid bond graphs
introduce an ideal switching element, the controlled junction,
to approximate continuous behavior that is too complex
for numerical analysis (e.g., because of nonlinearities or steep
is a tool for hybrid bond graph modeling and simulation
implemented in Java and documented in this paper.
It performs event detection and location based on
a bisectional search,
handles run-time causality changes, including derivative causality,
performs physically consistent (re-)initialization, and supports
two types of event iteration because of dynamic coupling.
It exports hybrid bond graph models in Java and C/C++
code that includes discontinuities as switched
equations (i.e., pre-enumeration is not required).
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