# MBSimControl - XML Documentation

XML-Namespace: http://www.mbsim-env.de/MBSimControl

Contents

- 1 Introduction
- 2 Nomenclature
  - 2.1 Legend
  - 2.2 An element
  - 2.3 A choice of element
  - 2.4 A sequence of elements
  - 2.5 Nested sequences/choices
  - 2.6 Child Elements
- 3 Elements
  - <mbsim:Function>
    - <SignalFunction>
  - <mbsim:Link>
    - <Signal>
      - <Demultiplexer>
      - <Duration>
      - <ExternSignalSink>
      - <ExternSignalSource>
      - <LinearTransferSystem>
      - <MasslessSpringDamper>
      - <Multiplexer>
      - <NonlinearTransferSystem>
      - <Sensor>
        - <ConstraintSensor>
          - <MechanicalConstraintSensor>
            - <MechanicalConstraintForceSensor>
            - <MechanicalConstraintMomentSensor>
        - <ContactSensor>
          - <GeneralizedContactForceSensor>
          - <GeneralizedRelativeContactPositionSensor>
          - <GeneralizedRelativeContactVelocitySensor>
        - <FrameSensor>
          - <AccelerationSensor>
          - <AngularAccelerationSensor>
          - <AngularVelocitySensor>
          - <OrientationSensor>
          - <PositionSensor>
          - <VelocitySensor>
        - <FunctionSensor>
        - <LinkSensor>
          - <GeneralizedForceSensor>
          - <GeneralizedRelativePositionSensor>
          - <GeneralizedRelativeVelocitySensor>
          - <MechanicalLinkSensor>
            - <MechanicalLinkForceSensor>
            - <MechanicalLinkMomentSensor>
        - <ObjectSensor>
          - <GeneralizedAccelerationSensor>
          - <GeneralizedPositionSensor>
          - <GeneralizedVelocitySensor>
          - <RigidBodySensor>
            - <RigidBodyJointForceSensor>
            - <RigidBodyJointMomentSensor>
        - <StateMachineSensor>
        - <TyreContactSensor>
          - <TyreContactAngularVelocitySensor>
          - <TyreContactOrientationSensor>
          - <TyreContactPositionSensor>
          - <TyreContactVelocitySensor>
          - <TyreModelSensor>
      - <SignalOperation>
      - <SignalTimeDiscretization>
      - <StateMachine>
      - <Switch>
  - <mbsim:Observer>
    - <FrameChaserObserver>
    - <SignalObserver>
  - <mbsim:Solver>
    - <LinearSystemAnalyzer>
- 4 Simple Types
  - SignalReferenceType

# 1 Introduction

Mit dem Modul MBSimControl können einfache Regelungsstrukturen aufgebaut werden.

Zum Auswerten von Systemzuständen oder Funktionen stehen verschiedene Sensoren zur Verfügung, die die entsprechenden Größen zur Verfügung stellen. Ebenso stehen Pseude-Sensoren zur Verfügung, welche Funktionen auswerten, um beispielsweise zeitabhängige Eingabegrößen zu generieren.

Zum Aufbereiten der Sensorsignale sind Signalmanipulatoren vorhanden.

In dynamischen Systemen 1. Ordnung können verschiedene Regelungskonzepte umgesetzt werden.

Durch Aktoren können Stellkräfte in die Systeme zurückgespeist werden. Da Aktoren als Eingangsgröße ebenfalls Signale erhalten, gibt es einen speziellen Sensor, der die Systeme 1. Ordnung ausliest und deren Systemausgänge an die Aktoren überträgt.

# 2 Nomenclature

## 2.1 Legend

Icon | Description
--- | ---
<element> | A XML element of name 'element'
attrName | A XML attribute of name 'attrName'
namespace | A XML namespace of name 'namespace'
type | A XML element or attribute type of name 'type'
required | A required XML attribute
0-2 | A occurance of XML elements or attributes

## 2.2 An element

<ElementName> 0-2 elementType
attrName1 required typeOfTheAttribute
attrName2 optional typeOfTheAttribute

Documentation of the element.

The upper nomenclature defines a XML element named ElementName with (if given) a minimal occurance of 0 and a maximal occurance of 2. The element is of type elementType.
A occurance of optional means 0-1.
The element has two attributes named attrName1 and attrName2 of type typeOfTheAttribute. A attribute can be optional or required.

## 2.3 A choice of element

- 1-2
- <ElemenetA>
- <ElemenetB>

The upper nomenclature defines a choice of elements. Only one element of the given ones can be used. The choice has, if given, a minimal occurance of 1 and a maximal maximal occurence of 2.
A occurance of optional means 0-1.

## 2.4 A sequence of elements

- 0-3
- <ElemenetA>
- <ElemenetB>

The upper nomenclature defines a sequence of elements. Each element must be given in that order. The sequence has, if given, a minimal occurance of 0 and a maximal maximal occurence of 3.
A occurance of optional means 0-1.

## 2.5 Nested sequences/choices

- 1-2
- <ElemenetA>
- - 0-3
  - <ElemenetC>
  - <ElemenetD>
- <ElemenetB>

Sequences and choices can be nested like above.

## 2.6 Child Elements

- 1-2
- <ParantElemenet>
  - - 0-3
    - <ChildElemenetA>
    - <ChildElemenetB>

A indent indicates child elements for a given element.

# 3 Elements

<mbsim:Function>

This element is defined by the XML Schema (Project) with the namespace http://www.mbsim-env.de/MBSim, which is included by this XML Schema (Project). See the documentation of the included XML Schema (Project) for this element.

<SignalFunction>
Object properties

Abstract Element: | false
Inherits: | <mbsim:Function>
Inherited by: |
Attributes: |

Object documentation
Funktion dessen Rückgabewert von einem Signal stammt.
Child Elements

- All Elements from <mbsim:Function>
- - <returnSignal>
    ref required SignalReferenceType
    Signal von welchem der Rückgabewert entnommen wird.

    <SignalFunction name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <returnSignal ref="VALUE"/>
    </SignalFunction>

<mbsim:Link>

This element is defined by the XML Schema (Project) with the namespace http://www.mbsim-env.de/MBSim, which is included by this XML Schema (Project). See the documentation of the included XML Schema (Project) for this element.

<Signal>
Object properties

Abstract Element: | true
Inherits: | <mbsim:Link>
Inherited by: | <Demultiplexer>, <Duration>, <ExternSignalSink>, <ExternSignalSource>, <LinearTransferSystem>, <MasslessSpringDamper>, <Multiplexer>, <NonlinearTransferSystem>, <Sensor>, <SignalOperation>, <SignalTimeDiscretization>, <StateMachine>, <Switch>,
Attributes: |

Object documentation
Signal
Child Elements

- All Elements from <mbsim:Link>

<Demultiplexer>
Object properties

Abstract Element: | false
Inherits: | <Signal>
Inherited by: |
Attributes: |

Object documentation
Auswahl eines Index eines vektorwertigen Signals
Child Elements

- All Elements from <Signal>
- - <inputSignal>
    ref required SignalReferenceType
  - <indices> pv:indexVector
    Vektor der ausgewählten Indizes.

    <Demultiplexer name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <inputSignal ref="VALUE"/>
      <indices>VALUE</indices>
    </Demultiplexer>

<Duration>
Object properties

Abstract Element: | false
Inherits: | <Signal>
Inherited by: |
Attributes: |

Object documentation
Child Elements

- All Elements from <Signal>
- - <inputSignal>
    ref required SignalReferenceType
  - <threshold> optional pv:unknownScalar

    <Duration name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <inputSignal ref="VALUE"/>
      <threshold>VALUE</threshold> <!-- optional -->
    </Duration>

<ExternSignalSink>
Object properties

Abstract Element: | false
Inherits: | <Signal>
Inherited by: |
Attributes: |

Object documentation
Dummy Signal welches ein Signal einfach weiterleitet. Der Sinn dieses Signals ist lediglich die Markierung von Signalen als externe Signale. Z.b. der FMI export oder Co-Simulation suche alle Signale diese Types und verwendet all diese als Signal Ausgänge des Systems.
Child Elements

- All Elements from <Signal>
- - <inputSignal>
    ref required SignalReferenceType
    ref=Pfad des Eingangssignals

    <ExternSignalSink name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <inputSignal ref="VALUE"/>
    </ExternSignalSink>

<ExternSignalSource>
Object properties

Abstract Element: | false
Inherits: | <Signal>
Inherited by: |
Attributes: |

Object documentation
Dieses Signal bezieht seine Signalwerte (Vektor der dimension n) von einer externen Quelle, z.B, von dem Master der Cosimulation mittels MDPCosim.
Child Elements

- All Elements from <Signal>
- - <sourceSize> pv:integerFullEval
    Gibt die Dimension der Signalquelle an.

    <ExternSignalSource name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <sourceSize>VALUE</sourceSize>
    </ExternSignalSource>

<LinearTransferSystem>
Object properties

Abstract Element: | false
Inherits: | <Signal>
Inherited by: |
Attributes: |

Object documentation
Child Elements

- All Elements from <Signal>
- - <initialState> optional pv:unknownVector
    Anfangszustand
  - <inputSignal>
    ref required SignalReferenceType
  - <systemMatrix> pv:nounitMatrix
  - <inputMatrix> pv:nounitMatrix
  - <outputMatrix> optional pv:nounitMatrix
  - <feedthroughMatrix> optional pv:nounitMatrix

    <LinearTransferSystem name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <initialState>VALUE</initialState> <!-- optional -->
      <inputSignal ref="VALUE"/>
      <systemMatrix>VALUE</systemMatrix>
      <inputMatrix>VALUE</inputMatrix>
      <outputMatrix>VALUE</outputMatrix> <!-- optional -->
      <feedthroughMatrix>VALUE</feedthroughMatrix> <!-- optional -->
    </LinearTransferSystem>

<MasslessSpringDamper>
Object properties

Abstract Element: | false
Inherits: | <Signal>
Inherited by: |
Attributes: |

Object documentation
Feder-Dämpfer System, bei dem die Masse vernachlässigt wird.

Größen

Child Elements

- All Elements from <Signal>
- - - <springStiffness> pv:stiffnessScalar
      \( c \)
    - <basicSpringForce> pv:forceScalar
      \( F_0 \)
    - <dampingCoefficient> pv:dampingScalar
      \( d \)
    - <negativeDampingCoefficient> optional pv:dampingScalar
      \( d_{neg} \)
    - <frictionForce> optional pv:forceScalar
      \( F_{fric} \)
    - <negativeFrictionForce> optional pv:forceScalar
      \( F_{fric, neg} \)
    - <minimalPositionValue> optional pv:lengthScalar
      \( x_{min} \)
    - <maximalPositionValue> optional pv:lengthScalar
      \( x_{max} \)

    <MasslessSpringDamper name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <springStiffness>VALUE</springStiffness>
      <basicSpringForce>VALUE</basicSpringForce>
      <dampingCoefficient>VALUE</dampingCoefficient>
      <negativeDampingCoefficient>VALUE</negativeDampingCoefficient> <!-- optional -->
      <frictionForce>VALUE</frictionForce> <!-- optional -->
      <negativeFrictionForce>VALUE</negativeFrictionForce> <!-- optional -->
      <minimalPositionValue>VALUE</minimalPositionValue> <!-- optional -->
      <maximalPositionValue>VALUE</maximalPositionValue> <!-- optional -->
    </MasslessSpringDamper>

<Multiplexer>
Object properties

Abstract Element: | false
Inherits: | <Signal>
Inherited by: |
Attributes: |

Object documentation
Vektorwertiges Zusammenführen von Signalen
Child Elements

- All Elements from <Signal>
- - 1-unbounded
  - <inputSignal>
    ref required SignalReferenceType
    Eingangssignal
  - <pv:Embed>

    <Multiplexer name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <inputSignal ref="VALUE"/>
    </Multiplexer>

<NonlinearTransferSystem>
Object properties

Abstract Element: | false
Inherits: | <Signal>
Inherited by: |
Attributes: |

Object documentation
Child Elements

- All Elements from <Signal>
- - <initialState> optional pv:unknownVector
    Anfangszustand
  - <inputSignal>
    ref required SignalReferenceType
  - <systemFunction>
    Systemfunktion
    - - <mbsim:Function>
      - <pv:Embed>
  - <outputFunction> optional
    Ausgabefunktion
    - - <mbsim:Function>
      - <pv:Embed>

    <NonlinearTransferSystem name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <initialState>VALUE</initialState> <!-- optional -->
      <inputSignal ref="VALUE"/>
      <systemFunction>
        <Function xmlns="http://www.mbsim-env.de/MBSim"/> <!-- abstract -->
      </systemFunction>
      <outputFunction> <!-- optional -->
        <Function xmlns="http://www.mbsim-env.de/MBSim"/> <!-- abstract -->
      </outputFunction>
    </NonlinearTransferSystem>

<Sensor>
Object properties

Abstract Element: | true
Inherits: | <Signal>
Inherited by: | <ConstraintSensor>, <ContactSensor>, <FrameSensor>, <FunctionSensor>, <LinkSensor>, <ObjectSensor>, <StateMachineSensor>, <TyreContactSensor>,
Attributes: |

Object documentation
Sensor
Child Elements

- All Elements from <Signal>

<ConstraintSensor>
Object properties

Abstract Element: | true
Inherits: | <Sensor>
Inherited by: | <MechanicalConstraintSensor>,
Attributes: |

Object documentation
Sensor zum Auslesen von Daten eines Constraints.
Child Elements

- All Elements from <Sensor>
- - <constraint>
    ref required mbsim:ConstraintReferenceType
    Pfad des Constraints

<MechanicalConstraintSensor>
Object properties

Abstract Element: | true
Inherits: | <ConstraintSensor>
Inherited by: | <MechanicalConstraintForceSensor>, <MechanicalConstraintMomentSensor>,
Attributes: |

Object documentation
Sensor zum Auslesen von Daten eines mechanischen Constraints.
Child Elements

- All Elements from <ConstraintSensor>

<MechanicalConstraintForceSensor>
Object properties

Abstract Element: | false
Inherits: | <MechanicalConstraintSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der kartesischen Kraft eines Constraints.
Child Elements

- All Elements from <MechanicalConstraintSensor>
- - <forceNumber> optional pv:indexFullEval

    <MechanicalConstraintForceSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <constraint ref="VALUE"/>
      <forceNumber>VALUE</forceNumber> <!-- optional -->
    </MechanicalConstraintForceSensor>

<MechanicalConstraintMomentSensor>
Object properties

Abstract Element: | false
Inherits: | <MechanicalConstraintSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen des kartesischen Moments eines Constraints.
Child Elements

- All Elements from <MechanicalConstraintSensor>
- - <momentNumber> optional pv:indexFullEval

    <MechanicalConstraintMomentSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <constraint ref="VALUE"/>
      <momentNumber>VALUE</momentNumber> <!-- optional -->
    </MechanicalConstraintMomentSensor>

<ContactSensor>
Object properties

Abstract Element: | true
Inherits: | <Sensor>
Inherited by: | <GeneralizedContactForceSensor>, <GeneralizedRelativeContactPositionSensor>, <GeneralizedRelativeContactVelocitySensor>,
Attributes: |

Object documentation
Sensor zum Auslesen von Daten eines Contacts.
Child Elements

- All Elements from <Sensor>
- - <contact>
    ref required mbsim:ContactReferenceType
    Pfad des Contacts
  - <singleContactNumber> optional pv:indexFullEval

<GeneralizedContactForceSensor>
Object properties

Abstract Element: | false
Inherits: | <ContactSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der generalisierten Kraft eines Contacts.
Child Elements

- All Elements from <ContactSensor>

    <GeneralizedContactForceSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <contact ref="VALUE"/>
      <singleContactNumber>VALUE</singleContactNumber> <!-- optional -->
    </GeneralizedContactForceSensor>

<GeneralizedRelativeContactPositionSensor>
Object properties

Abstract Element: | false
Inherits: | <ContactSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen des generalisierten, relativen Abstands eines Contacts.
Child Elements

- All Elements from <ContactSensor>

    <GeneralizedRelativeContactPositionSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <contact ref="VALUE"/>
      <singleContactNumber>VALUE</singleContactNumber> <!-- optional -->
    </GeneralizedRelativeContactPositionSensor>

<GeneralizedRelativeContactVelocitySensor>
Object properties

Abstract Element: | false
Inherits: | <ContactSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der generalisierten, relativen Geschwindigkeit eines Contacts.
Child Elements

- All Elements from <ContactSensor>

    <GeneralizedRelativeContactVelocitySensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <contact ref="VALUE"/>
      <singleContactNumber>VALUE</singleContactNumber> <!-- optional -->
    </GeneralizedRelativeContactVelocitySensor>

<FrameSensor>
Object properties

Abstract Element: | true
Inherits: | <Sensor>
Inherited by: | <AccelerationSensor>, <AngularAccelerationSensor>, <AngularVelocitySensor>, <OrientationSensor>, <PositionSensor>, <VelocitySensor>,
Attributes: |

Object documentation
Sensor zum Auslesen von Koordinatensystemen in absoluten Koordinaten
Child Elements

- All Elements from <Sensor>
- - <frame>
    ref required mbsim:FrameReferenceType
    Pfad des Koordinatensystems von welchem die absoluten Koordinaten ausgelesen werden
  - <outputFrame> optional
    ref required mbsim:FrameReferenceType
    Alle kartesischen Sensor-Signale werden in diesem Koordinatensystemen ausgegeben. Wenn nicht angegeben wird das I-System von DynamicSystemSolver verwendet.

<AccelerationSensor>
Object properties

Abstract Element: | false
Inherits: | <FrameSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der Beschleunigung im Welt-Koordinatensystem
Child Elements

- All Elements from <FrameSensor>

    <AccelerationSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <frame ref="VALUE"/>
      <outputFrame ref="VALUE"/> <!-- optional -->
    </AccelerationSensor>

<AngularAccelerationSensor>
Object properties

Abstract Element: | false
Inherits: | <FrameSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der Winkelbeschleunigung im Welt-Koordinatensystem
Child Elements

- All Elements from <FrameSensor>

    <AngularAccelerationSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <frame ref="VALUE"/>
      <outputFrame ref="VALUE"/> <!-- optional -->
    </AngularAccelerationSensor>

<AngularVelocitySensor>
Object properties

Abstract Element: | false
Inherits: | <FrameSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der Winkelgeschwindigkeit im Welt-Koordinatensystem
Child Elements

- All Elements from <FrameSensor>

    <AngularVelocitySensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <frame ref="VALUE"/>
      <outputFrame ref="VALUE"/> <!-- optional -->
    </AngularVelocitySensor>

<OrientationSensor>
Object properties

Abstract Element: | false
Inherits: | <FrameSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der Drehmatrix vom körperfesten ins Welt-System
Child Elements

- All Elements from <FrameSensor>

    <OrientationSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <frame ref="VALUE"/>
      <outputFrame ref="VALUE"/> <!-- optional -->
    </OrientationSensor>

<PositionSensor>
Object properties

Abstract Element: | false
Inherits: | <FrameSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der Position im Welt-Koordinatensystem
Child Elements

- All Elements from <FrameSensor>

    <PositionSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <frame ref="VALUE"/>
      <outputFrame ref="VALUE"/> <!-- optional -->
    </PositionSensor>

<VelocitySensor>
Object properties

Abstract Element: | false
Inherits: | <FrameSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der Geschwindigkeit im Welt-Koordinatensystem
Child Elements

- All Elements from <FrameSensor>

    <VelocitySensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <frame ref="VALUE"/>
      <outputFrame ref="VALUE"/> <!-- optional -->
    </VelocitySensor>

<FunctionSensor>
Object properties

Abstract Element: | false
Inherits: | <Sensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zur zeitabhängigen Auswertung von Funktionen
Child Elements

- All Elements from <Sensor>
- - <function>
    Bennenung der Funktion
    - - <mbsim:Function>
      - <pv:Embed>

    <FunctionSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <function>
        <Function xmlns="http://www.mbsim-env.de/MBSim"/> <!-- abstract -->
      </function>
    </FunctionSensor>

<LinkSensor>
Object properties

Abstract Element: | true
Inherits: | <Sensor>
Inherited by: | <GeneralizedForceSensor>, <GeneralizedRelativePositionSensor>, <GeneralizedRelativeVelocitySensor>, <MechanicalLinkSensor>,
Attributes: |

Object documentation
Sensor zum Auslesen von Daten eines Links.
Child Elements

- All Elements from <Sensor>
- - <link>
    ref required mbsim:LinkReferenceType
    Pfad des Links

<GeneralizedForceSensor>
Object properties

Abstract Element: | false
Inherits: | <LinkSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der generealisierten Kraft eines Links.
Child Elements

- All Elements from <LinkSensor>

    <GeneralizedForceSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <link ref="VALUE"/>
    </GeneralizedForceSensor>

<GeneralizedRelativePositionSensor>
Object properties

Abstract Element: | false
Inherits: | <LinkSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen des generalisierten, relativen Abstands eines Links.
Child Elements

- All Elements from <LinkSensor>

    <GeneralizedRelativePositionSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <link ref="VALUE"/>
    </GeneralizedRelativePositionSensor>

<GeneralizedRelativeVelocitySensor>
Object properties

Abstract Element: | false
Inherits: | <LinkSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der generalisierten, relativen Geschwindigkeit eines Links.
Child Elements

- All Elements from <LinkSensor>

    <GeneralizedRelativeVelocitySensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <link ref="VALUE"/>
    </GeneralizedRelativeVelocitySensor>

<MechanicalLinkSensor>
Object properties

Abstract Element: | true
Inherits: | <LinkSensor>
Inherited by: | <MechanicalLinkForceSensor>, <MechanicalLinkMomentSensor>,
Attributes: |

Object documentation
Sensor zum Auslesen von Daten eines mechanischen Links.
Child Elements

- All Elements from <LinkSensor>

<MechanicalLinkForceSensor>
Object properties

Abstract Element: | false
Inherits: | <MechanicalLinkSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der kartesischen Kraft eines Links.
Child Elements

- All Elements from <MechanicalLinkSensor>
- - <forceNumber> optional pv:indexFullEval

    <MechanicalLinkForceSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <link ref="VALUE"/>
      <forceNumber>VALUE</forceNumber> <!-- optional -->
    </MechanicalLinkForceSensor>

<MechanicalLinkMomentSensor>
Object properties

Abstract Element: | false
Inherits: | <MechanicalLinkSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen des kartesischen Moments eines Links.
Child Elements

- All Elements from <MechanicalLinkSensor>
- - <momentNumber> optional pv:indexFullEval

    <MechanicalLinkMomentSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <link ref="VALUE"/>
      <momentNumber>VALUE</momentNumber> <!-- optional -->
    </MechanicalLinkMomentSensor>

<ObjectSensor>
Object properties

Abstract Element: | true
Inherits: | <Sensor>
Inherited by: | <GeneralizedAccelerationSensor>, <GeneralizedPositionSensor>, <GeneralizedVelocitySensor>, <RigidBodySensor>,
Attributes: |

Object documentation
Sensor zum Auslesen der generalisierten Koordinaten eines Objekts.
Child Elements

- All Elements from <Sensor>
- - <object>
    ref required mbsim:ObjectReferenceType
    Pfad des Objekts

<GeneralizedAccelerationSensor>
Object properties

Abstract Element: | false
Inherits: | <ObjectSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der generalisierten Beschleunigung
Child Elements

- All Elements from <ObjectSensor>

    <GeneralizedAccelerationSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <object ref="VALUE"/>
    </GeneralizedAccelerationSensor>

<GeneralizedPositionSensor>
Object properties

Abstract Element: | false
Inherits: | <ObjectSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der generalisierten Position
Child Elements

- All Elements from <ObjectSensor>

    <GeneralizedPositionSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <object ref="VALUE"/>
    </GeneralizedPositionSensor>

<GeneralizedVelocitySensor>
Object properties

Abstract Element: | false
Inherits: | <ObjectSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der generalisierten Geschwindigkeit
Child Elements

- All Elements from <ObjectSensor>

    <GeneralizedVelocitySensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <object ref="VALUE"/>
    </GeneralizedVelocitySensor>

<RigidBodySensor>
Object properties

Abstract Element: | true
Inherits: | <ObjectSensor>
Inherited by: | <RigidBodyJointForceSensor>, <RigidBodyJointMomentSensor>,
Attributes: |

Object documentation
Sensor zum Auslesen von Daten eines Starrkörpers.
Child Elements

- All Elements from <ObjectSensor>

<RigidBodyJointForceSensor>
Object properties

Abstract Element: | false
Inherits: | <RigidBodySensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der kartesischen Gelenkkraft eines Starrkörpers.
Child Elements

- All Elements from <RigidBodySensor>
- - <jointForceNumber> optional pv:indexFullEval

    <RigidBodyJointForceSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <object ref="VALUE"/>
      <jointForceNumber>VALUE</jointForceNumber> <!-- optional -->
    </RigidBodyJointForceSensor>

<RigidBodyJointMomentSensor>
Object properties

Abstract Element: | false
Inherits: | <RigidBodySensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen des kartesischen Gelenkmoments eines Starrkörpers.
Child Elements

- All Elements from <RigidBodySensor>
- - <jointMomentNumber> optional pv:indexFullEval

    <RigidBodyJointMomentSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <object ref="VALUE"/>
      <jointMomentNumber>VALUE</jointMomentNumber> <!-- optional -->
    </RigidBodyJointMomentSensor>

<StateMachineSensor>
Object properties

Abstract Element: | false
Inherits: | <Sensor>
Inherited by: |
Attributes: |

Object documentation
Child Elements

- All Elements from <Sensor>
- - <stateMachine>
    ref required SignalReferenceType
  - <state> optional pv:stringFullEval
  - <selection> optional pv:stringFullEval
    Auswahl des Sensorsignals (standardmäßig durationOfActivity).
    - value: Wert
    - activity: Aktivität
    - durationOfActivity: Dauer der Aktivität

    <StateMachineSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <stateMachine ref="VALUE"/>
      <state>VALUE</state> <!-- optional -->
      <selection>VALUE</selection> <!-- optional -->
    </StateMachineSensor>

<TyreContactSensor>
Object properties

Abstract Element: | true
Inherits: | <Sensor>
Inherited by: | <TyreContactAngularVelocitySensor>, <TyreContactOrientationSensor>, <TyreContactPositionSensor>, <TyreContactVelocitySensor>, <TyreModelSensor>,
Attributes: |

Object documentation
Sensor zum Auslesen von Daten eines Reifenkontakts.
Child Elements

- All Elements from <Sensor>
- - <tyreContact>
    ref required mbsim:LinkReferenceType
    Pfad des Reifenkontakts.

<TyreContactAngularVelocitySensor>
Object properties

Abstract Element: | false
Inherits: | <TyreContactSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der Winkelgeschwindigkeit des Koordinatensystems im Reifenkontaktpunkt.
Child Elements

- All Elements from <TyreContactSensor>
- - <angularVelocityNumber> optional pv:indexFullEval

    <TyreContactAngularVelocitySensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <tyreContact ref="VALUE"/>
      <angularVelocityNumber>VALUE</angularVelocityNumber> <!-- optional -->
    </TyreContactAngularVelocitySensor>

<TyreContactOrientationSensor>
Object properties

Abstract Element: | false
Inherits: | <TyreContactSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der Orientierung des Koordinatensystems im Reifenkontaktpunkt.
Child Elements

- All Elements from <TyreContactSensor>
- - <orientationNumber> optional pv:indexFullEval

    <TyreContactOrientationSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <tyreContact ref="VALUE"/>
      <orientationNumber>VALUE</orientationNumber> <!-- optional -->
    </TyreContactOrientationSensor>

<TyreContactPositionSensor>
Object properties

Abstract Element: | false
Inherits: | <TyreContactSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der Position des Koordinatensystems im Reifenkontaktpunkt.
Child Elements

- All Elements from <TyreContactSensor>
- - <positionNumber> optional pv:indexFullEval

    <TyreContactPositionSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <tyreContact ref="VALUE"/>
      <positionNumber>VALUE</positionNumber> <!-- optional -->
    </TyreContactPositionSensor>

<TyreContactVelocitySensor>
Object properties

Abstract Element: | false
Inherits: | <TyreContactSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der Geschwindigkeit des Koordinatensystems im Reifenkontaktpunkt.
Child Elements

- All Elements from <TyreContactSensor>
- - <velocityNumber> optional pv:indexFullEval

    <TyreContactVelocitySensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <tyreContact ref="VALUE"/>
      <velocityNumber>VALUE</velocityNumber> <!-- optional -->
    </TyreContactVelocitySensor>

<TyreModelSensor>
Object properties

Abstract Element: | false
Inherits: | <TyreContactSensor>
Inherited by: |
Attributes: |

Object documentation
Sensor zum Auslesen der Daten des Reifenmodells.
Child Elements

- All Elements from <TyreContactSensor>

    <TyreModelSensor name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <tyreContact ref="VALUE"/>
    </TyreModelSensor>

<SignalOperation>
Object properties

Abstract Element: | false
Inherits: | <Signal>
Inherited by: |
Attributes: |

Object documentation
TODO
Child Elements

- All Elements from <Signal>
- - - 1-unbounded
    - <inputSignal>
      ref required SignalReferenceType
      Eingangssignal
    - <pv:Embed>
  - <multiplexInputSignals> optional pv:booleanFullEval
  - <function>
    Funktion
    - - <mbsim:Function>
      - <pv:Embed>

    <SignalOperation name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <inputSignal ref="VALUE"/>
      <multiplexInputSignals>VALUE</multiplexInputSignals> <!-- optional -->
      <function>
        <Function xmlns="http://www.mbsim-env.de/MBSim"/> <!-- abstract -->
      </function>
    </SignalOperation>

<SignalTimeDiscretization>
Object properties

Abstract Element: | false
Inherits: | <Signal>
Inherited by: |
Attributes: |

Object documentation
Zeitdiskretisierung eines Signals (ALPHA-STATUS)
Child Elements

- All Elements from <Signal>
- - <input>
    ref required SignalReferenceType

    <SignalTimeDiscretization name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <input ref="VALUE"/>
    </SignalTimeDiscretization>

<StateMachine>
Object properties

Abstract Element: | false
Inherits: | <Signal>
Inherited by: |
Attributes: |

Object documentation
Child Elements

- All Elements from <Signal>
- - <state> 1-unbounded
    name required pv:stringFullEval
    value required pv:floatFullEval
    Zustände.
  - <transition> 1-unbounded
    source required pv:stringFullEval
    destination required pv:stringFullEval
    signal required SignalReferenceType
    threshold optional pv:floatFullEval
    Zustandsübergänge.
  - <initialState> optional pv:stringFullEval
    Anfangszustand.

    <StateMachine name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <state name="VALUE" value="VALUE"/>
      <transition source="VALUE" destination="VALUE" signal="VALUE" threshold="VALUE"/>
      <initialState>VALUE</initialState> <!-- optional -->
    </StateMachine>

<Switch>
Object properties

Abstract Element: | false
Inherits: | <Signal>
Inherited by: |
Attributes: |

Object documentation
Child Elements

- All Elements from <Signal>
- - <firstDataInputSignal>
    ref required SignalReferenceType
  - <secondDataInputSignal>
    ref required SignalReferenceType
  - <controlInputSignal>
    ref required SignalReferenceType
  - <threshold> optional pv:unknownScalar
  - <rootFinding> optional pv:booleanFullEval

    <Switch name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <firstDataInputSignal ref="VALUE"/>
      <secondDataInputSignal ref="VALUE"/>
      <controlInputSignal ref="VALUE"/>
      <threshold>VALUE</threshold> <!-- optional -->
      <rootFinding>VALUE</rootFinding> <!-- optional -->
    </Switch>

<mbsim:Observer>

This element is defined by the XML Schema (Project) with the namespace http://www.mbsim-env.de/MBSim, which is included by this XML Schema (Project). See the documentation of the included XML Schema (Project) for this element.

<FrameChaserObserver>
Object properties

Abstract Element: | false
Inherits: | <mbsim:Observer>
Inherited by: |
Attributes: |

Object documentation
Creates a OpenMBV <Frame> which moves (translation and rotation) according to a given definition. This definition can be provided per component of the translation and rotation. It can also reference a MBSim <Frame> to chase. Single components for the translation and rotation can still be overwritten when following a Frame. This is even the basic usage of this observer: following a MBSim Frame but using different definitions for some components of the translation and/or rotation. This is very useful in OpenMBV to move the camera with such a FrameChaserObserver.
Child Elements

- All Elements from <mbsim:Observer>
- - <frame> optional
    ref required mbsim:FrameReferenceType
    The frame to chase. If given, this observer follows the referenced Frame but the following definitions can be used to overwrite single components for translation and rotation. If not given, this observer is fixed in space at the world coordinate system but the following defintions can still be used to overwrite single components.
  - - optional
    - <constantX> optional pv:lengthScalar
      Defines a constant value for the x-translation of the observer frame.
    - <signalX>
      ref required SignalReferenceType
      Defines a signal being used for the x-translation of the observer frame.
  - - optional
    - <constantY> optional pv:lengthScalar
    - <signalY>
      ref required SignalReferenceType
  - - optional
    - <constantZ> optional pv:lengthScalar
    - <signalZ>
      ref required SignalReferenceType
  - - optional
    - <constantRotationX> optional pv:angleScalar
      Defines a constant angle for the rotation about the world x-axis of the observer frame.
    - <signalRotationX>
      ref required SignalReferenceType
      Defines a signal being used for the rotation angle about the world x-axis of the observer frame.
  - - optional
    - <constantRotationY> optional pv:angleScalar
    - <signalRotationY>
      ref required SignalReferenceType
  - - optional
    - <constantRotationZ> optional pv:angleScalar
    - <signalRotationZ>
      ref required SignalReferenceType
  - <enableOpenMBV> optional

    <FrameChaserObserver name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <frame ref="VALUE"/> <!-- optional -->
      <constantX>VALUE</constantX> <!-- optional -->
      <constantY>VALUE</constantY> <!-- optional -->
      <constantZ>VALUE</constantZ> <!-- optional -->
      <constantRotationX>VALUE</constantRotationX> <!-- optional -->
      <constantRotationY>VALUE</constantRotationY> <!-- optional -->
      <constantRotationZ>VALUE</constantRotationZ> <!-- optional -->
      <enableOpenMBV/> <!-- optional -->
    </FrameChaserObserver>

<SignalObserver>
Object properties

Abstract Element: | false
Inherits: | <mbsim:Observer>
Inherited by: |
Attributes: |

Object documentation
Observe the data of a signal and optionally visualize a 3-vector signal as a Arrow or a n-vector signal as a IvScreenObserver.
Child Elements

- All Elements from <mbsim:Observer>
- - <signal>
    ref required SignalReferenceType
    The signal to be observed.
  - <position> optional
    ref required SignalReferenceType
    The 3-vector signal for the position where the Arrow should be visualized, (0,0,0) if not given.
  - <enableOpenMBV> optional
    Enable the visualization of a 3-vector signal as a Arrow.
  - <openMBVIvScreenAnnotation> optional
    enable the visualization of a n-vector signal as an OpenMBV IvScreenAnnotation.
    - - <ombv:IvScreenAnnotation>
      - <pv:Embed>

    <SignalObserver name="VALUE" xmlns="http://www.mbsim-env.de/MBSimControl">
      <plotFeature xmlns="http://www.mbsim-env.de/MBSim"/>
      <plotAttribute name="VALUE" xmlns="http://www.mbsim-env.de/MBSim"/>
      <signal ref="VALUE"/>
      <position ref="VALUE"/> <!-- optional -->
      <enableOpenMBV/> <!-- optional -->
      <openMBVIvScreenAnnotation> <!-- optional -->
        <IvScreenAnnotation name="VALUE" enable="VALUE" boundingBox="VALUE" environment="VALUE" outLine="VALUE" shilouetteEdge="VALUE" drawMethod="VALUE" pointSize="VALUE" lineWidth="VALUE" xmlns="http://www.mbsim-env.de/OpenMBV">
          <scale1To1At>VALUE</scale1To1At> <!-- optional -->
          <ivFileName>VALUE</ivFileName>
          <columnLabel>VALUE</columnLabel>
        </IvScreenAnnotation>
      </openMBVIvScreenAnnotation>
    </SignalObserver>

<mbsim:Solver>

This element is defined by the XML Schema (Project) with the namespace http://www.mbsim-env.de/MBSim, which is included by this XML Schema (Project). See the documentation of the included XML Schema (Project) for this element.

<LinearSystemAnalyzer>
Object properties

Abstract Element: | false
Inherits: | <mbsim:Solver>
Inherited by: |
Attributes: |

Object documentation
Führt eine Eigenanalyse, eine Modalanalyse und eine Frequenzganganalyse eines dynamischen Systems durch. Dabei wird das nichtlineare System in ein lineares, zeitinvariantes System transformiert. Die zugehörigen Matrizen A, B, C und D werden in einer Datei gespeichert.
Child Elements

- All Elements from <mbsim:Solver>
- - <initialTime> optional pv:timeScalar
    Anfangszeitpunkt. Entspricht dem Zeitpunkt, zu dem das System linearisiert werden soll.
  - <initialState> optional pv:unknownVector
    Anfangszustand.
  - <initialInput> optional pv:unknownVector
    Startwerte der Eingangsgrößen.
  - <minimumNaturalFrequency> optional pv:unknownScalar
    Kleinste Eigenfrequenz, die berechnet werden soll. Standardardmäßig 0.01 Hz.
  - <maximumNaturalFrequency> optional pv:unknownScalar
    Größte Eigenfrequenz, die berechnet werden soll. Standardardmäßig 100 kHz.
  - <normalModeScaleFactor> optional pv:nounitScalar
    Faktor, mit der alle Eigenmoden skaliert werden sollen.
  - <normalModeScale> optional pv:nounitVector
    Faktoren, mit denen die einzelen Eigenmoden skaliert werden sollen.
  - <excitationFrequencies> optional pv:unknownVector
    Vektor der Anregungsfrequenzen.
  - <excitationAmplitudeFunction> optional
    Anregungsamplituden der Eingänge als Funktion der Anregungsfrequenz.
    - - <mbsim:Function>
      - <pv:Embed>
  - <excitationPhaseFunction> optional
    Phasenverschiebungen der Eingänge als Funktion der Anregungsfrequenz.
    - - <mbsim:Function>
      - <pv:Embed>
  - <visualizeNormalModes> optional
    Visualisierung der Schwingformen in OpenMBV.
    - - <modeNumbers> optional pv:nounitVector
        Auswahl der Moden, die visualisiert werden sollen.
  - <visualizeFrequencyResponse> optional
    Visualisierung des Frequenzgangs in OpenMBV.
    - - <frequencyRange> optional pv:unknownVector
        Frequenzbreich, der visualisiert werden soll. Standardardmäßig 0 bis 10 Hz.
  - <visualizeSuperposedSolution> optional
    Visualisierung der überlagerten Schwingungsantwort in OpenMBV.
    - - <frequencyAmplitudePhaseArray>
        tbd.
        - - <ele> 1-unbounded pv:unknownMatrix
      - <timeSpan> optional pv:timeScalar
        Zeitspanne für die Simulation.
      - <includeTransientSolution> optional pv:booleanFullEval
        Definiert, ob der Einschwingvorgang bei der Visualisierung berücksichtigt werden soll. Standarmäßig ja.
  - <plotStepSize> optional pv:timeScalar
    Zeitschrittweite bei der Visualisierung.
  - <loops> optional pv:integerFullEval
    Anzahl der Schwingungen pro Eigenmode bzw. pro Anregungsfrquenz bei der Visualisierung.

    <LinearSystemAnalyzer xmlns="http://www.mbsim-env.de/MBSimControl">
      <initialTime>VALUE</initialTime> <!-- optional -->
      <initialState>VALUE</initialState> <!-- optional -->
      <initialInput>VALUE</initialInput> <!-- optional -->
      <minimumNaturalFrequency>VALUE</minimumNaturalFrequency> <!-- optional -->
      <maximumNaturalFrequency>VALUE</maximumNaturalFrequency> <!-- optional -->
      <normalModeScaleFactor>VALUE</normalModeScaleFactor> <!-- optional -->
      <normalModeScale>VALUE</normalModeScale> <!-- optional -->
      <excitationFrequencies>VALUE</excitationFrequencies> <!-- optional -->
      <excitationAmplitudeFunction> <!-- optional -->
        <Function xmlns="http://www.mbsim-env.de/MBSim"/> <!-- abstract -->
      </excitationAmplitudeFunction>
      <excitationPhaseFunction> <!-- optional -->
        <Function xmlns="http://www.mbsim-env.de/MBSim"/> <!-- abstract -->
      </excitationPhaseFunction>
      <visualizeNormalModes> <!-- optional -->
        <modeNumbers>VALUE</modeNumbers> <!-- optional -->
      </visualizeNormalModes>
      <visualizeFrequencyResponse> <!-- optional -->
        <frequencyRange>VALUE</frequencyRange> <!-- optional -->
      </visualizeFrequencyResponse>
      <visualizeSuperposedSolution> <!-- optional -->
        <frequencyAmplitudePhaseArray>
          <ele>VALUE</ele>
        </frequencyAmplitudePhaseArray>
        <timeSpan>VALUE</timeSpan> <!-- optional -->
        <includeTransientSolution>VALUE</includeTransientSolution> <!-- optional -->
      </visualizeSuperposedSolution>
      <plotStepSize>VALUE</plotStepSize> <!-- optional -->
      <loops>VALUE</loops> <!-- optional -->
    </LinearSystemAnalyzer>

# 4 Simple Types

SignalReferenceType

Generated with MBXMLUtils on 2024-09-11T23:57:31Z