generate the governing equations of a system from a textual description of the system - MapleSim Help

MapleSim[Multibody][BuildEQs(deprecated)] - generate the governing equations of a system from a textual description of the system

 Calling Sequence BuildEQs(options)
 Parameters options - (optional) equations of the form keyword = value
 Description Important: The BuildEQs command has been deprecated. Use the templates in the MapleSim templates folder to analyze your model instead. You can use the A:-GetMultibody command to extract the multibody portion of the active MapleSim subsystem and package it into a manipulatable object. For more information, see Opening MapleSim Templates. The BuildEQs command uses a textual description of a system to generate a Maple module that contains the governing symbolic equations of a system. Unless the 'SaveToLib' option is set to false, the BuildEQs command automatically saves a copy of the generated module to a MapleSim/Multibody store file (.lib). This allows the generated equations to be retrieved immediately by the GetModel command the next time the worksheet is opened.  By default, the store file has the same name as the MapleSim model and is located in the current directory.

Options

'InputString'= string

This option is required unless the 'InputFileName' option is set. The InputString string must be set to the string returned by the GetMultibodyInput command.

'InputFileName'= string

If you are working with a legacy DynaFlexPro model (that is, a file in the .dfp format), use this command to load the model into MapleSim/Multibody by setting the string to the full path of the .dfp file.

'ModelName'= string

A string indicating the name of the model in the worksheet. When BuildEQs has finished executing, a module by this name (containing the governing equations of the system) is created in the worksheet.

'AugType'= string

A string indicating whether the contributions of constraint reactions to the dynamic equations are represented by their actual values (Reaction) or by Lagrange multipliers. Allowable values are Lagrange and Reaction. If a system does not contain kinematic constraints, this value is ignored.  The default value is Reaction.

'KinSimpType'= string

A string indicating which Maple built-in simplification procedures (simplify, combine) are applied to the kinematic exports of the system.  Allowable values are Simplify, SimplifyTrig, Combine, CombineTrig, and None.  The default value is Simplify.

'DynSimpType'= string

A string indicating which Maple built-in simplification procedures (simplify, combine) are applied to the dynamic exports of the system.  Allowable values are Simplify, SimplifyTrig, Combine, CombineTrig, and None. The default value is Simplify.

'MaxSmallQOrder'= posint

Indicates the maximum order for the elastic coordinates appearing in the governing equations of the system. If no flexible bodies are included in the system, this option is ignored. The default value is 1.

'SilentMode'= boolean

Setting this option to true hides the output generated by the BuildEQs command. The default value is false.

Examples

The example below shows an embedded MapleSim model of a planar slider-crank mechanism. In this example, the embedded component name is Simulation0 and the model name is SliderCrank.

 > $\mathrm{leArguments}≔\left['\mathrm{InputString}'=\mathrm{MapleSim}:-\mathrm{Multibody}:-\mathrm{GetMultibodyInput}\left("Simulation0"\right),'\mathrm{ModelName}'="SliderCrank",'\mathrm{KinSimpType}'="Simplify",'\mathrm{DynSimpType}'="Simplify",'\mathrm{AugType}'="Lagrange",'\mathrm{MaxSmallQOrder}'=1,'\mathrm{SaveToLib}'=\mathrm{false},'\mathrm{SilentMode}'=\mathrm{false}\right]:$$\mathrm{MapleSim}:-\mathrm{Multibody}:-\mathrm{BuildEQs}\left(\mathrm{op}\left(\mathrm{leArguments}\right)\right):$
 ${"Analyzing system..."}$
 ${"Performing constraint analysis..."}$
 ${"The system has 1 degree\left(s\right) of freedom. It is modeled using 3 generalized coordinate\left(s\right) coupled by 2 algebraic constraint\left(s\right)."}$
 ${"Peforming a dynamic analysis using an augmented Lagrange formulation - system variables shown below:"}$
 ${"vQ"}{,}\left[\begin{array}{c}{\mathrm{s_P2}}{}\left({t}\right)\\ {\mathrm{theta_R1}}{}\left({t}\right)\\ {\mathrm{theta_R5}}{}\left({t}\right)\end{array}\right]{,}{"vP"}{,}\left[\begin{array}{c}\frac{{ⅆ}}{{ⅆ}{t}}{}{\mathrm{s_P2}}{}\left({t}\right)\\ \frac{{ⅆ}}{{ⅆ}{t}}{}{\mathrm{theta_R1}}{}\left({t}\right)\\ \frac{{ⅆ}}{{ⅆ}{t}}{}{\mathrm{theta_R5}}{}\left({t}\right)\end{array}\right]{,}{"vPdot"}{,}\left[\begin{array}{c}\frac{{{ⅆ}}^{{2}}}{{ⅆ}{{t}}^{{2}}}{}{\mathrm{s_P2}}{}\left({t}\right)\\ \frac{{{ⅆ}}^{{2}}}{{ⅆ}{{t}}^{{2}}}{}{\mathrm{theta_R1}}{}\left({t}\right)\\ \frac{{{ⅆ}}^{{2}}}{{ⅆ}{{t}}^{{2}}}{}{\mathrm{theta_R5}}{}\left({t}\right)\end{array}\right]{,}{"vLambda"}{,}\left[\begin{array}{c}{\mathrm{λ1}}{}\left({t}\right)\\ {\mathrm{λ2}}{}\left({t}\right)\end{array}\right]$
 ${"Dynamic analysis complete."}$ (5.1)
 > $\mathrm{SliderCrank}:-\mathrm{xM}$