Modelica Standard Libraries
MathModelica is based on the Modelica, object-oriented modeling language developed by the Modelica Association, and is delivered with the libraries listed below from the Modelica Standard Library.
As the libraries are completely open you can also use them as templates when developing libraries for your unique needs.
Blocks
The blocks library contains input/output blocks to build up block diagrams for controls systems, etc. The library contains continuous control blocks with internal states, discrete input/output blocks with fixed sample period, components with Boolean input and output signals, mathematical functions as input/output blocks, discontinuous or non-differentiable algebraic control blocks, blocks to combine and extract signals, signal source blocks generating Real and Boolean signals, and blocks for interpolation in tables.
Constants
This package provides often needed constants from mathematics, machine dependent constants and constants from nature.
Electrical
This library contains electrical components to build up analog circuits, as well as machines to model electrical motors and generators, especially three phase induction machines such as an asynchronous motor.
The analog components include basic components (resistor, capacitor, inductor, etc), semiconductor devices, transmission lines, ideal elements (switches, diode, transformer, etc), time-dependent and controlled voltage and current sources, as well as sensors to measure potential, voltage, and current.
The multiphase components are intended to be used the same way as electrical analog components, making design of multiphase models easier.
Math
Here you will find mathematical functions for scalars and matrices, such as sin, cos, solve, eigenvalues, and singular values.
Mechanics
This package contains components to model the movement of 1-dimensional rotational, 1-dimensional translational, mechanical systems.
The rotational library provides 1-dimensional, rotational mechanical components to model drive trains with frictional losses in a convenient way. A typical, simple example is shown in the next figure:
The translational library provides 1-dimensional, translation mechanical components to model e.g. mechanical spools and actuators.
SIunits
This package provides predefined types, such as mass, angle and time, based on the international unit standard, as well as conversion functions from non SI-units to SI-units and vice versa.
StateGraph
The StateGraph library provides components to model discrete event and reactive systems in a convenient way. It is based on the JGraphChart method and takes advantage of Modelica features for the "action" language. JGraphChart is a further development of Grafcet to include elements of StateCharts that are not present in Grafcet/Sequential Function Charts. Therefore, the StateGraph library has a similar modeling power to StateCharts but avoids some deficiencies of StateCharts.
Thermal
The thermal package contains libraries to model heat transfer and thermal heat flow.
MultiBody
This package contains 3-dimensional mechanical models which can be used to model robots, satellites and vehicles. The components of the MultiBody library can be combined with the 1D-mechanical libraries. A unique feature of the MultiBody library is the efficient treatment of joint locking and unlocking. This allows e.g. easy modeling of friction or brakes in the joints.
Note that the Modelica Standard Library is free software; it can be redistributed and/or modified under the terms of the Modelica license, see the license conditions and the accompanying disclaimer here.