453 – Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.OneAxis

            The model has the same number of unknowns and equations: 389
The model has the same number of unknowns and equations:
  383+6*max([size(pathPlanning.path.q_begin, 1); size(pathPlanning.path.q_end, 1);   size(pathPlanning.path.qd_max, 1); size(pathPlanning.path.qdd_max, 1)])
Check of <a href="Modelica://Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.OneAxis">Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.OneAxis</a> successful.


        

             = true
Translation of Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.OneAxis:
The DAE has 389 scalar unknowns and 389 scalar equations.
 
Statistics
 
Original Model
  Number of components: 61
  Variables: 649
  Constants: 10 (10 scalars)
  Parameters: 140 (143 scalars)
  Unknowns: 499 (389 scalars)
  Differentiated variables: 23 scalars
  Equations: 304
  Nontrivial: 241
Translated Model
  Constants: 84 scalars
  Free parameters: 57 scalars
  Parameter depending: 86 scalars
  Continuous time states: 7 scalars
  Time-varying variables: 67 scalars
  Alias variables: 248 scalars
  Number of mixed real/discrete systems of equations: 1
  Sizes of linear systems of equations: {4, 3}
  Sizes after manipulation of the linear systems: {0, 0}
  Sizes of nonlinear systems of equations: { }
  Sizes after manipulation of the nonlinear systems: { }
  Number of numerical Jacobians: 0
  Initialization problem
    Number of mixed real/discrete systems of equations: 1
    Sizes of linear systems of equations: {3, 3}
    Sizes after manipulation of the linear systems: {0, 0}
 
Settings
Advanced.StoreProtectedVariables = true
Selected continuous time states
Statically selected continuous time states
  axis.controller.PI.x
  axis.gear.spring.phi_rel
  axis.gear.spring.w_rel
  axis.initializeFlange.phi_flange
  axis.initializeFlange.w_flange
  axis.motor.C.v
  axis.motor.La.i
 
        

            
axis.controller.PI.x
axis.gear.spring.phi_rel
axis.gear.spring.w_rel
axis.initializeFlange.phi_flange
axis.initializeFlange.w_flange
axis.motor.C.v
axis.motor.La.i
        

            Log-file of program ./dymosim
(generated: Tue May  5 02:06:22 2020)

dymosim started
... "dsin.txt" loading (dymosim input file)
... "OneAxis.mat" creating (simulation result file)

Integration started at T = 0 using integration method DASSL
(DAE multi-step solver (dassl/dasslrt of Petzold modified by Dassault Systemes))
Simulation successfully terminated
... End condition reached
Integration terminated successfully at T = 1.498131701
   CPU-time for integration                : 0.09 seconds
   CPU-time for one grid interval          : 0.0192 milliseconds
   CPU-time for initialization             : 0.001 seconds
   Number of result points                 : 4704
   Number of grid points                   : 4683
   Number of accepted steps                : 3720
   Number of f-evaluations (dynamics)      : 7400
   Number of crossing function evaluations : 8457
   Number of Jacobian-evaluations          : 160
   Number of model time events             : 4
   Number of input time events             : 0
   Number of state events                  : 7
   Number of step events                   : 0
   Minimum integration stepsize            : 6.39e-10
   Maximum integration stepsize            : 0.00167
   Maximum integration order               : 5
Calling terminal section
... "dsfinal.txt" creating (final states)