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A JAVA IMPLEMENTATION OF AN ENVIRONMENT FOR HYBRID MODELING
AND SIMULATION OF PHYSICAL SYSTEMS
Pieter J. Mosterman^{1}
Institute of Robotics and System Dynamics
DLR Oberpfaffenhofen
D82230 Wessling, Germany
Pieter.J.Mosterman@dlr.de

Gautam Biswas^{2}
Knowledge Systems Laboratory
Stanford University
Stanford, CA 94305
biswas@ksl.stanford.edu
Abstract:
Bond graphs are a powerful formalism for modeling the continuous dynamics
of physical systems. To model fast
continuous changes as discontinuities, hybrid bond graphs
introduce an ideal switching element, the
controlled junction, that may inhibit
power transfer by enforcing its common variable to be zero.
When bond graph storage components become dependent upon
one another because of a discrete state change, their stored value
may change discontinuously.
Consistent values are
computed by conserving the physical state variable (e.g., momentum,
mass). One discrete state change may cause a number
of further discrete state changes without affecting the state vector.
When no further changes occur,
the state vector is updated and this again may cause
a new sequence of discrete state changes. These
consecutive discrete state changes can be classified
based on parameter abstraction and
time scale abstraction.
HYBRSIM implements the
hybrid bond graph modeling paradigm as a Java based modeling and
simulation environment.
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Pieter J. Mosterman ER
19981113