A Combined–system Simulator for Mechatronic Systems

We discuss the development of a new algorithm for simulation of combined systems, that controls the traditional numerical integration process, such that time events and state events are handled efficiently and accurately. The algorithm is generic, i.e. independent of the used integration method. Furthermore, a new algorithm is developed to sort the equations automatically into four sections (static, initial, dynamic and output), to obtain a simulation model as fast as possible. Tests with a 6DOF robot model showed that the distribution of the equations among categories resulted in a performance increase of 4x. The more structured design using Object Oriented techniques, enables a structured and straightforward implementation of the simulator, resulting in a performance increase of 3x using the Van der Pol equation as a test case.