The Modelica Multi-bond Graph Library

Bond graphs have established themselves as a reliable tool for modeling physical systems. Multi-bonds are a bondgraphic extension that provides a general approach to modeling all kinds of multi-dimensional processes in continuous physical systems. This paper presents a Modelica library for modeling multi-bond graphs and their application to three-dimensional mechanical systems. A set of bondgraphic models for ideal mechanical components is provided that enables a fully object-oriented modeling of mechanical systems. The wrapping of the bondgraphic models and their representation by meaningful icons gives the mechanical models an intuitive appeal and makes them easy to use. The resulting mechanical systems can be efficiently simulated. Additionally, the continuous mechanical models were extended to hybrid models that allow discrete changes to be modeled that occur in mechanical system as a result of hard impacts.