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.runAllSimulationEvents	Run all the valid 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.
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.
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.
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.
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.
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	Represents a publisher client for MQTT communication.
MQTT_sub	Represents 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.
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.
Rv	Defines a special type of solver state variable.
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 spline with two or three independent variables.
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'.
Units	Defines the units for the model.
Upost	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

1. Run a SimulationEvent or use the Model.simulate method with the returnResults set to True. This instructs msolve to store the results to a SimulationResults object.

2. Use the SimulationResults.asDataFrame method to get the results as a dictionary of Pandas dataframes, or,

3. Use the SimulationResults.getObject method, specifying the entity whose results are to be extracted. This entity can be a Body, a Request, or a Rv. A ResultObject is created, which can be one of BodyResult, FlexBodyResult, PointMassResult, RequestResult, or RvResult, depending on the entity.

4. Use one of the methods ResultObject.getStep, ResultObject.getDataFrame, ResultObject.getComponent to extract the numerical data of the entity.

Note

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

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SimulationResults	Container object that encloses all the results from a single simulation.
SimulationResultsHistory	A container class that can be used to store, serialize and de-serialize SimulationResults for cross plotting.
ResultObject	Base class for all the result objects of a simulation.
BodyResult	Contains all the results associated with a single Part of the model.
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.
RvResult	Contains all the results associated with a single Rv of the model.

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.
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 msolve.Model.DeformableCurve
DeformCurve	alias of msolve.Model.DeformableCurveGraphic
DeformSurface	alias of msolve.Model.DeformableSurfaceGraphic
Dsurface	alias of msolve.Model.DeformableSurface
Flex_Body	alias of msolve.Model.FlexBody
GraCurve	alias of msolve.Model.CurveGraphic
GraForce	alias of msolve.Model.ForceGraphic
GraPoint	alias of msolve.Model.PointGraphic
GraSurface	alias of msolve.Model.SurfaceGraphic
ParamCurve	alias of msolve.Model.CurveGraphic
ParamCurveGraphic	alias of msolve.Model.CurveGraphic
ParamSurface	alias of msolve.Model.SurfaceGraphic
ParamSurfaceGraphic	alias of msolve.Model.SurfaceGraphic
PlantState	alias of msolve.Model.Pstate
Point_Mass	alias of msolve.Model.PointMass
Spdp	alias of msolve.Model.SpringDamperGraphic