The available Modelica libraries, both commercial and non-commercial, are collections of models. They allow to build her/his own components easily or to adapt the existing ones for simulating the behavior of complex systems, covering different domains and sectors.
Libraries can be general purpose, such as the Modelica Standard Library, containing basic models for different physical domains, or can be specific to one or a few application fields, such as those for the Automotive, the Aerospace & Defense, the Energy, the Building & Process and the Industrial Equipment sectors.
All the libraries listed below are reselled or developed by DOFWARE, together with the corresponding technical support.
Modelica Standard Library (MSL)
The Modelica Standard Library (MSL) represents the core for building models compliant with the Modelica language. It is a non-commercial library whose development follows that of the Modelica language itself, both coordinated by the Modelica Association.
It provides elements (about 3000 basic elements subdivided into components and functions) for implementing models for different domains by means of standardized interfaces (connectors) for each one.
The main sections of the library reflect the following physical/application domains:
- Mechanical: 1D rotational and translational, and 3D multi-body.
- Thermodynamics: 1D thermo-fluid and heat transfer modeling.
- Electrical/Electronic: analog, digital, spice, machines and multi-phase modelling.
- Electromagnetic: modeling of magnetic properties.
- Fluid Dynamics: modeling of 1D flows.
- Media: definition of the physical properties of different fluids (liquids and gases).
- State Machines: discrete events modeling.
- Control Systems: causal blocks for the definition of control laws.
- Mathematical: mathematical functions that can be applied even to vectors and matrices.
The main commercial libraries that expand the MSL offering are listed below.
Electrical Systems
Electrified Powertrains Library – EPTL: for supporting the design of electrical powertrain systems in the automotive sector.
Brushless DC Drives Library: for designing electric transmissions integrating brushless direct current (BLDC) motors.
Fluid Dynamics
Systems Cooling Library: for developing liquid- or air-based cooling circuits useful in the thermal management of electronic systems.
Fluid Power Library: for modeling the behavior of hydraulic systems for aerospace, automotive or industrial applications.
Human Comfort Library: for estimating the thermal comfort in closed environments, such as buildings or vehicles, based on standardized methods and reference indices.
HVAC Library: for optimising the design and the performance of heating, ventilation and air conditioning systems.
Thermal Systems Library: for optimising thermodynamic systems design.
Clara+ Library: for simulating the energy production processes in thermal plants.
Fluid Dynamics Library: for performing CFD simulations using coarse-grained meshes.
Mechanical Systems
VeSyMA – Powertrain Library : for modeling transmission lines in the automotive sector.
In the field of automotive design and of combustion or electric vehicles behavior simulation, the Modelica Association provides and maintains the non-commercial Vehicle Interfaces library. This promotes compatibility among different automotive libraries by providing a flexible and effective standard framework characterised by configurable templates for vehicle modeling.
In the automotive field, DOFWARE resells the following commercial libraries:
VeSyMA Library: for modeling and creating virtual test environments for the automotive sector. It defines templates and standard architectures to facilitate specific modifications for each sub-system.
VeSyMA – Engines Library: for modeling internal combustion engines at different levels of detail.
VeSyMA – Powertrain Library: for modeling transmission lines in the automotive sector.
VeSyMA – Suspensions Library: for developing suspension models and analyzing vehicle performance in terms of stability and handling.
Battery Library: for modeling cells and battery packs.
Brushless DC Drives Library: for designing electric transmissions integrating brushless direct current (BLDC) motors.
Electrified Powertrains Library – EPTL: for supporting the design of electric powertrain systems in the automotive sector.
Flexible Bodies Library: for simulating the behavior and the deformation of flexible bodies.
Systems Cooling Library: for developing liquid- or air-based cooling circuits useful in the thermal management of electronic systems.
HVAC Library: for optimizing the design and the performance of heating, ventilation and air conditioning systems.
Thermal Systems Library: for modeling and optimizing thermodynamic systems.
Human Comfort Library: for estimating the thermal comfort in vehicle cabins, based on standardized methods and reference indices.
Fluid Dynamics Library: for performing CFD simulations using coarse-grained meshes.
Fluid Power Library: for modeling the behavior of hydraulic systems for aerospace, automotive or industrial applications.
Pneumatic Systems Library: for designing pneumatic systems, such as suspensions and actuators.
Hydrogen Library: for simulating the performance of fuel cell systems.
For fluid dynamic simulations, for aircraft structural compliance tests, for designing hybrid vehicle systems or for analyzing flight dynamics, DOFWARE resells the following libraries:
Thermal Systems Library: for modeling and optimizing thermodynamic systems.
Human Comfort Library: for estimating the thermal comfort in aircraft cabins, based on standardized methods and reference indices.
Fluid Power Library: for modeling the behavior of hydraulic systems for aerospace, automotive or industrial applications.
Flexible Bodies Library: for simulating the behavior and the deformation of flexible bodies.
Brushless DC Drives Library: for designing electric transmissions integrating brushless direct current (BLDC) motors.
Electrified Powertrains Library – EPTL: for supporting the design of powertrain systems and electric drives.
Electric Power Systems Library: for modeling direct current (DC) and alternating current (AC) electrical systems.
Flight Dynamics Library: for modeling and simulating aircraft flight dynamics.
Hydrogen Library: for simulating the performance of fuel cell systems.
For the design of buildings and industrial plants and for the optimization of control systems, DOFWARE resells or implements the following commercial libraries:
HVAC Library: for optimizing the design and the performance of heating, ventilation and air conditioning systems.
Thermal Systems Library: for modeling and optimizing thermodynamic systems.
Human Comfort Library: for estimating the thermal comfort in buildings, based on standardized methods and reference indices.
Clara+ Library: for simulating the energy production processes in thermal plants.
ProcessingLine Library: for modeling and optimizing the electrical consumption of machinery in industrial plants.
In order to build industrial machines, actuators and control systems models and to analyze their thermal properties, DOFWARE resells or implements the following commercial libraries:
Brushless DC Drives Library: for designing electric transmissions integrating brushless direct current (BLDC) motors.
Electrified Powertrains Library – EPTL: for supporting the design of electric powertrain systems.
Flexible Bodies Library: for simulating the behavior and the deformation of flexible bodies.
Systems Cooling Library: for developing liquid- or air-based cooling circuits useful in the thermal management of electronic systems.
Fluid Power Library: for modeling the behavior of hydraulic systems.
Pneumatic Systems Library: for modeling the behavior of hydraulic systems.
ProcessingLine Library: for modelling an industrial plant from both mechanical and energy points of view and consequently deriving the production line energy consumptions.
The Battery library, developed by Dassault Systèmes, offers components for modeling cells and battery packs for the automotive, aerospace and industrial fields.
Main features:
- Configurable template models for an ease and flexible set up of test cases.
- Performance analysis influenced by temperature variations.
- It provides a mean for battery packs sizing and for evaluating the aging effects resulting in performance reduction.
The Brushless DC Drives (BLDCD) library, developed by Dassault Systèmes, offers components for designing transmissions containing brushless DC motors.
It offers models at different level of detail both to quickly evaluate the entire system performance and to simulate specific physical phenomena (e.g. ripple effects, losses due to thermal effects, etc.).
It also allows users to easily import specific brushless DC motor datasheets into library models and then to evaluate their performance within the whole system being modeled.
The ClaRa+ library, developed by TLK-Thermo and XRG Simulation, allows users to model and to simulate the behavior of thermal plants for energy production (e.g. coal-fired plants, combined cycle plants, etc.).
It provides ready-to-use sub-system models with up to four levels of detail depending on their purpose and scope. This allows to support the entire life-cycle of the plant as well as to perform faults modeling and to identify critical situations in advance.
The Electrified Powertrains library, developed by Dassault Systèmes, offers components to support the entire design process of electric powertrain systems. It provides models of electric drive systems with different levels of complexity, including related controllers.
It guarantees ease and flexibility in setting up test cases thanks to the presence of configurable template models. It supports the analysis of losses due to thermal effects in inverters and motors, as well as the possibility of carrying out frequency analysis or studying ripple effects.
Application fields:
- Powertrain systems design: preliminary design of automotive systems by using simplified models to evaluate energy consumption (estimation of operating ranges).
- Variable speed drives: for pumps, fans, air conditioning systems, elevators, etc.
- Servo drives: fields of robotics, machine tools, automation, etc.
The FlexibleBodies library, developed by the DLR Institute of Robotics and Mechatronics, offers an object-oriented approach for representing flexible objects within multi-body systems. Once the constraints and the applied load system have been defined, it allows to evaluate strains and stresses of flexible bodies. It also allows users to make interface 1D/3D models from the Mechanics library of the Modelica Standard Library (MSL).
The library provides two main models categories:
- pre-defined flexible bodies (beams, plates) whose geometric and mechanical characteristics can be easily set from the graphical interface; their dynamic behavior is described in terms of equations entirely implemented within the Modelica classes.
- generic flexible bodies (ModalBodies), representative of generic shape objects whose mechanical description is based on a finite element model. This model type requires a pre-processing step to be done within an FEA software in order to export both the mesh layout of the body and the modal analysis.
The Flight Dynamics library, developed by Dassault Systèmes, allows rapid modeling, simulation and analysis of the flight dynamics of aircrafts, both civil and military, including UAVs.
This library represents the ideal solution for the multi-disciplinary development of flight dynamic control laws, as well as for being used in real-time applications such as flight simulators. It also allows users to simulate flight missions to evaluate performance or to optimize trajectories in order to minimize fuel consumption, CO2 emissions and flight time.
The Fluid Power library, developed by Claytex, allows to model and to simulate hydraulic systems for the aerospace, the automotive and the industrial sectors; application examples are found in braking systems, actuation systems, transmissions, etc.
It provides ready-to-use components to rapidly design the system and to simulate its behavior since the beginning of the design activities. It also allows easy interfacing both with models from the other Claytex libraries and with those from the Modelica Standard Library: this for modeling, for example, the motion of pistons in cylinders, motors and rotational actuators, thermal effects, etc. It also comes with the definition of the physical properties of different hydraulic fluids, and it supports the creation of new ones by providing a set of characteristic parameters.
The component models use ISO1219 compliant icons, so that models reproduce the graphical characteristics found in hydraulic diagrams faithfully. This way, users can simply focus on building the circuit model to be simulated without worrying about the underlying equations.
The Human Comfort library, developed by XRG Simulation GmbH, provides a mean for simulating the thermal comfort within closed environments, such as buildings or vehicle cabins, having people acting as thermal sources.
It offers models to analyze the impact of air conditioning systems, weather conditions and generic thermal loads on the thermal comfort.
Features:
- Management of weather conditions, effects related to the air conditioning system and the occupants metabolic activity and clothing types.
- Estimation of thermal comfort based on standardized mathematical methods and numerical reference indices (PMV, etc.).
- Effective and intuitive representation of simulation results.
The Heating, Ventilation and Air Conditioning (HVAC) library, developed by XRG Simulation GmbH, supports the design and the performance optimization of complex thermo-hydraulic HVAC systems.
This library provides an optimal compromise between the accuracy of the simulation results and the calculation times for getting the dynamic behavior of the modelled HVAC systems; this feature is particularly suitable for simulating the system operations over an entire year and therefore for estimating the impact of the design choices in terms of operating costs.
For a more meaningful analysis, models can be interfaced with those of the HumanComfort library in order to study the interaction between the building environment and the heating/cooling systems and to derive effective and efficient control strategies.
The Pneumatic Systems library, developed by Dassault Systèmes, offers components for modeling pneumatic system where a pressurised gas allows the generation and the distribution of the pneumatic power for
the conversion into mechanical power. Typical use is in the field of suspension or actuation systems.
Models allow to choose among different gas implementations, either specifically developed for this library or already present in the Modelica Standard Library (MSL); an agile interfacing with the mechanical components of the MSL itself is also guaranteed.
The Modelica ProcessingLine library, developed by DOFWARE, provides a solution to bring your processing line in the virtual world of modeling and simulation. This library gives you a complete set of machinery components to model materials processing and handling with the aim of determining the whole plant electrical consumption.
The library can be used in the chemical, pharmaceutical, food, agricultural and mining sectors.
Main features:
- Wide applicability and easy scalability (from single phenomena to entire machines modeling);
- Ready-to-use and/or customizable models according to the users needs, with particular focus on:
- Material handling: screw conveyor, bucket elevator;
- Material processing: shredder machine, grinding machine;
- AC and DC electric motors;
- Components characterized by animated icons for increasing the simulated process comprehension;
- FMI standard support by having FMU-exportable components;
- Models are completely parametrized, i.e. different types of processing materials can be defined without the need for modifications in the machinery models;
- Full support to the entire physical plant life-cycle:
- Design: testing different plant configurations for choosing the best solution;
- Production planning: predictive analysis of energy consumption for better supporting production planning activities;
- Plant monitoring: the digital plant, given the data coming from the real plant (e.g. through an IOT platform), can simulate and highlight potential issues in advance (predictive maintenance).
The video below shows an overview of the library components:
The video below shows a simple example of a processing line combining a screw-conveyor, a shredder machine and another screw-conveyor, each one with the corresponding electric motors.
The ProcessingLine library was created as part of the HOME project (Hierarchical Open Manufacturing Europe), co-funded by the Piedmont region. Within the scope of the project, our library aimed at estimating the energy consumption of a processing plant for agricultural application.
For information about the library, please contact us: info@dofware.com.
The Systems Cooling library, developed by Dassault Systèmes, offers components for modeling liquid- or air-based cooling circuits.
It provides implementations of the physical properties of different refrigerant fluid media (incompressible liquids or air), which are based on the medium structure of the Modelica Standard Library (MSL).
The Thermal Systems library, developed by TLK-Thermo GmbH, provides the mean for simulating thermodynamic systems both in stationary and transient conditions. By using it in conjunction with the TSMedia library, which includes substance property implementations, system simulation with various media can be performed.
The library consists of extremely versatile models that can be used for modeling individual components with greater detail as well as for designing and for optimizing large and complex systems.
Possibile application fields are the followings:
- Refrigeration cycles, including refrigeration mixtures;
- Heat pump systems;
- Hydraulic networks;
- Clausius-Rankine cycles;
- Heating, ventilation and air-conditioning systems;
- Absorption and adsorption systems;
- Fuel cell systems.
The graphical user interface this library provides supports users in the composition and in the parameterization of very different thermal systems.
The open-source VehicleInterfaces library is developed thanks to the collaboration of different libraries developers belonging to the automotive field (Claytex, Dassault Systèmes, DLR, Modelon) and orchestrated
by the Modelica Association.
The main purpose of the library is promoting compatibility between Modelica libraries in the automotive field by defining a common modeling standard with multiple levels of detail that span from the sub-systems to the entire vehicle.
Features and typical uses:
- Flexibility and easiness due to configurable template models.
- Mechanical transmissions and vehicle structure modelled with 1D and 3D elements from MSL (Modelica.Mechanics).
- Providing subsystems models for:
- braking system;
- chassis;
- transmission system;
- engine system;
- driver models;
- roads and ambient conditions.
- Used in the automotive field as base for developing more detailed libraries.
The Vehicle System Modeling and Analysis (VeSyMA) library, developed by Claytex, represents the basis of the VeSyMA suite, which provides a solution for modeling various aspects in the automotive sector, from individual systems to the performance of the entire vehicle.
Thanks to its flexibility and modular approach, the individual components can be connected with control logics models, hydraulic models, pneumatic models, etc. This allows users to study the entire vehicle in a single simulation environment. The potential offered by the VeSyMa base library can be extended with the other libraries the VeSyMa suite is made of; their focus is managing other aspects of the automotive domain with greater detail. Examples are:
Features:
- Use of templates and standard architectures for facilitating the variation of the level of detail of each sub-system.
- Vehicle base structure provided in terms of templates identifying thematic components (engine, transmission, brakes, etc.).
- Ability to replace each component with variants that perform similar tasks.
- Use of standard connectors from the Modelica Standard Library (MSL) for easy integration with third-party Modelica libraries.
- Perfect compatibility with components based on the VehicleInterfaces library.
- Ability to create experiments from standard templates in order to test vehicle models.
The VeSyMA suite includes the VeSyMA – Engines library, developed by Claytex, whose focus is on internal combustion engines modeling.
Features:
- Providing two different levels of detail for engines modeling:
- MVEM (Mean Value Engine Models) – used to simulate average engine cycle performance.
- CAREM (Crank Angle Resolved Engine Models) – combustion models resolved with respect to the crank angle to determine torque and air flows through the engine.
- Presence of template models and standard architectures to facilitate the variation of each sub-system level of detail.
- Basic structure of the engine with models of the various components (rod-crank kinematics, cylinders, intake valve, etc.).
- Possibility to replace each component with variants.
- Presence of ready-to-use components.
The VeSyMA suite includes the VeSyMA – Powertrain library, developed by Claytex, whose focus is on the modeling of transmission lines for the automotive sector.
Features:
- Providing detailed modeling for describing the behavior of:
- trees;
- bearings;
- gears;
- flexible joints;
- epicycloidals and differentials.
- Each component has its own 3D model that can be animated to help understand system dynamics.
- Presence of templates and standard architectures to facilitate the variation of each sub-system level of detail.
- Replacement of the corresponding implementations in the basic VeSyMA library.
The VeSyMA suite includes the VeSyMA – Suspensions library, developed by Claytex, whose focus is on suspension modeling in order to analyze the vehicle dynamic performance.
Features:
- Possibility to model suspensions as MultiBody components or through look-up tables with position and rotation data.
- MultiBody cases can use ideal joints or include bushings and flexible bodies.
- Wide range of model test examples:
- road simulations: presence of different driving models and different types of roads;
- test rig simulations: static and dynamic tests.
- Possibility of real-time simulations.
- Use of standard templates and layouts that facilitate the variation of the level of detail of each sub-system.
- Replacement of the corresponding implementations in the basic VeSyMA library.
- Different ready-to-use layouts are available (MacPherson, double wishbone, multi-link, etc.).
- Easy-to-create custom suspension systems maintaining the same basic layout in order to facilitate the integration.
- Detailed modeling of the forces acting on wheels and tyres.
- Possibility of integration with the tire models from the commercial library FTire (Dassault Systèmes), which allow a non-linear 3D modeling of the tyre’s physics.
