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20-sim
Getting Started (PDF)
Reference Manual (PDF)
Welcome to 20-sim
What is new in 20-sim?
Requirements
Contact
Privacy Statement
Installation
Versions
Requirements
Installing 20-sim
Uninstalling
Deactivation
Unattended Installation
Unattended Uninstall
Matlab
Quick Tour
Running a Simulation
Variables, Parameters, Initial Values and Constants
Hierarchy
Language
Editor
Introduction
Editor
Equation Editor
Equation Editor Taskbar
Graphical Editor
Graphical Editor Taskbar
Search
Library
Options
Using Models
Open Models
Save Models
Packed Files
Processed Files
Insert Models
Connecting Models
Change Models
Implode / Explode
Dissolve
Simplify Models
Navigate Models
Add Variable To
Check Models
Model Properties
General Properties
Check Energetic Behavior
Analyze Causality
Show Terminals
Implementations
Continuous-Time and Discrete-Time Models
Masked Models
Working with Multi-Dimensional Models
Exporting Models
Encrypt Models
Decrypt Models
Documentation Editor
Check for Model Updates
Backgrounds
Naming Conventions
Keyboard Shortcuts
Compiling
Compiling Models
Causal Form
Integral Form
Algebraic Loops
Order of Execution
Integration Steps
Show Equations
Icon Editor
Icon Editor
Terminals
Global Parameters and Variables
Introduction
Global Parameters and Variables
Scope
Global Relations Editor
Interface Editor
Interface Editor
Port Properties
Orientation
Causality
Ports with more than one Terminal
Domains, Quantities and Units
Domains, Quantities and Units Editor
Domains
Quantities and Units
Editing Domains
Editing Quantities
Editing Units
FMI Support
FMI Standard
Co-simulation Interface
FMU Import
FMU Export
Simulator
Introduction
Simulator
Running a Simulation
Parameters and Initial Values
Run Properties
Plots
Plot Properties
Running a Simulation
Numerical Values
Variable Chooser
Debugging
Breakpoints
New Simulation Plot
New 3D Animation Plot
Arrange Plots
Resample Curves
Copy States
Reset Initial Values
Speeding Up Simulations
Exporting Simulations
Importing Simulations
Full Screen Mode
Keyboard Shortcuts
Training Simulators
Run Properties
Simulator Tab
Discrete System Tab
Advanced Discrete System Settings
Algebraic Relations Solver Tab
Euler
Backward Euler
Adams-Bashford
Runge Kutta 2
Runge-Kutta 4
Runge-Kutta-Fehlberg
Runge Kutta Dormand Prince 8
Vode Adams
Backward Differentiation Formula (BDF)
Modified Backward Differentiation Formula (MBDF)
Language Reference
Introduction
Language Reference
Equation Model Layout
Equations
Equation Sections
Using Port Names
Reserved Words
White Space
Writing Comments
State and Time Events
Using Brackets and Newlines
Keywords
Keywords
Constants
Predefined Constants
Parameters
Annotations
Variables
Predefined Variables
Global Parameters and Variables
OneUp
Types
Data Types
Boolean
Integer
Real
String
Typecasting
Functions
Functions
Arithmetic
abs
algebraic
ceil
constraint
ddt
derivative
dly
energyfunction
exp
exp10
exp2
floor
initialvalue
int
limint
limit
log
log10
log2
resint
round
sign
square
sqrt
tdelay
trunc
Discrete
hold
next
previous
sample
Event
event
eventdown
eventup
frequencyevent
timeevent
Expansion
equal
mul
sum
External
data
dll
Writing Static DLL's
dlldynamic
Writing Dynamic DLL's
settoolsetting
table
Matrix
adjoint
Adjoint
antisym
columns
cross
det
diag
eye
homogeneous
inner
inverse
inverseH
linsolve
max
min
msum
multiplyH
norm
norminf
rows
skew
sym
tilde
trace
transpose
Port
collect
direct
first
Source
gauss
impulse
ramp
ran
Random Seed
step
Trigonometric
arcsin
arccos
arccosh
arcsinh
arctan
arctanh
atan2
cos
cosh
sin
sinh
sincos
tanh
tan
Operators
Operators
Arithmetic
Absolute
Multiplication
Addition
Subtraction
Array Multiplication
Array Division
Array Power
Division
Integer Division
Modulus Operator
Power
Binary
bitand
bitclear
bitcmp
bitget
bitinv
bitor
bitset
bitshift
bitshiftright
bitxor
swapbytes
Boolean
and
or
xor
Comparison
Less than
Less than or Equal
Not Equal
Equal
Larger Than
Larger Than or Equal
Prefix
Prefix Plus Sign
Prefix Minus Sign
Boolean Not
Statements
Statements
If Then
If Then Else
If Then Elsif
If Then Else (expression)
For To Do
While Do
Repeat Until
Switch Case
Stopsimulation
Warning
toMatlab
domatlab
frommatlab
Effortincausality
Flowincausality
Matrices and Vectors
Declaration
Notation
Use
Advanced Topics
Algebraic Loops
Causal Form
Integral Form
Order of Execution
Show Equations
Toolboxes
Toolboxes
3D Mechanics Toolbox
Introduction
Introduction
Opening The 3D Mechanics Editor
Migrating from Older Versions
Edit Window
Model Tab
Library Tab
Selection Properties
3D Representation
Output
Edit Modes
Ghost Modes
View Modes
Model Settings
Camera Settings
Spring Dampers and Constraints
Flexibility
Working Order
3D Mechanics Editor
Generating a 20-sim Model
Library
Library
Bodies
Joints
Sensors
Actuators
Parametric Models
Parametric Modeling
Expressions Editor
Animation Toolbox
3D Animation
3D Animation Window
3D Properties
Selecting Objects
Moving Objects
Scenes
Movies
General Properties
Objects
Reference Frames
Line
Cube
Sphere
Cylinder
Cone
Torus
Spiral
3D-files
Square
Circle
Camera
Vector
Ambient Light
Spot Light
Directional Light
Properties
Position
Orientation
Scaling
Color
Mesh
Texture
Material
Closed Shapes
Circle Elements
Attenuation
Duplication
Graph Animation
Graph Animation
Control Toolbox
Controller Design Editor
Controller Design Editor
State Space Models
Transfer Functions
Zeros and Poles
Eigen Frequencies
Step Response
Bode Plots
Pole Zero Diagram
Nichols Chart
Nyquist Diagram
MLP Network Editor
Neural Networks
BackPropagation Networks
Introduction to MLP Networks
How to use the MLP Editor
B-Spline Network Editor
Neural Networks
Introduction to B-Spline Networks
How to use the BSpline Editor
Running a 1-D B-Spline Network
Training a 1-D B-Spline Network
Filter Editor
Filter Editor
Controllers
P-Controller
I-Controller
D-Controller
PD-Controller
PI-Controller
PID1-Controller
PID2-Controller
PID-Compensator
PID-Controller
Filters
Generic Filter
High-Pass First Order Filter
High-Pass Second Order Filter
Lag Filter
Lead Filter
Low-Pass First Order Filter
Low-Pass Second Order Filter
Notch Filter
Universal Notch Filter
Frequency Domain Toolbox
FFT Analysis
FFT Analysis
FFT Window
Model Linearization
Linearize
Linearization Explained
Frequency Response
Linearization Tolerances
Linear System Editor
Linear System Editor
Symbolic Linear Systems
Continuous and Discrete Linear Systems
Output Delay
Editor
State Space Models
Transfer Functions
Gains
Zeros and Poles
Eigen Frequencies
Step Response
Bode Plots
Nyquist Diagram
Nichols Chart
Pole Zero Diagram
Import Data
Dynamic Error Budgeting
Dynamic Error Budgeting
Scenario Manager
Introduction
Example
Actions
Action Logs
Reset Model
File Storage
Mechatronics Toolbox
Cam Wizard
How to use the Cam Wizard
Cam Motion Profiles
Motion Profile Wizard
Motion Profile Wizard
Motion Profile Wizard (Old Style)
Motion Profiles
Servo Motor Editor
Servo Motor Editor
Introduction
How to use the Servo Motor Editor
Data Files
Parameters
How to use the Parameters
Dynamic Model
Creating your own data files
Data Files
Maxon 2005 / 2006
Tecnotion 2006
Faulhaber 2006
Theory
Basic Principles
Permanent Magnet Motors
Brush DC Motors
Brushless DC Motors
AC synchronous motor
Linear Motors
Star and Delta Networks
Torque Speed Plot
General Model
Limits
Safe Operating Area
Losses
Maximum Power and Maximum Efficiency
Choosing a Motor
Thermal Behaviour
DC Motors
Other Motors
Thermal Model
Real-Time Toolbox
Introduction
Real Time Toolbox
C-Code Generation
C-Code Generation
Generating ANSI C-Code
Target.Ini File
Available 20-sim Tokens
Time Domain Toolbox
Time Domain Toolbox
Parameter Sweep
Optimization
Optimization Methods
Curve Fitting
Sensitivity Analysis
Monte Carlo Analysis
Variation Analysis
Multiple Run Wizard - External DLL
Cost Function
Scripting Toolbox
Introduction
Scripting API
Installation for Scripting: 20-sim
Scripting Menu
Scripting in Octave/Matlab
Installation for Scripting: Octave
Installation for Scripting: Matlab
Prepare Scripting Folder
Basic Script
Advanced Scripts
Writing your own Scripts
Scripting in Python
Installation for Scripting: Python
Prepare Scripting Folder
Basic Script
Python Scrypting Help
Writing your own Scripts
Advanced Functionality
Unity Toolbox
Unity Toolbox
License
How does the Unity Toolbox work?
Installing
Example: Cube
Example: Scara Robot
20-sim Inspector Properties
Importing 3D Scenery
Generating the Unity Animation
Drag and Drop to 20-sim
Running the Unity Animation
Library
Bond Graph
Bond Graph Models
C
CC
De
Df
EffortSensor
EnergySensor
FlowSensor
GY
I
II
IC
MGY
MR
MSe
MSf
MTF
OneJunction
OneJunction-Activity
PowerSensor
Power Splitter
PSensor
Qsensor
R
Se
Sf
SGY
STF
SwitchingOneJunction
SwitchingZeroJunction
TF
ZeroJunction
ZeroJunction-Activity
3d
C-3
GY-3
I-3
MGY-3
MR-3
MSe-3
MSf-3
MTF-3
R-3
Se-3
Sf-3
SGY-3
STF-3
TF-3
2d
C-2
GY-2
I-2
MGY-2
MR-2
MSe-2
MSf-2
MTF-2
R-2
Se-2
Sf-2
SGY-2
STF-2
TF-2
Iconic Diagrams
Iconic Diagrams
Electric
Electric
Actuators
CMABender
CMAStretcher
DCMotor
Components
Capacitor
CurrentSensor
Diode
DoubleSwitch
Ground
Inductor
Node
OpAmp
Potentiometer
Rectifier
Resistor
Switch
Transformer
VoltageSensor
Sources
ControlledCurrentSource
ControlledVoltageSource
CurrentSource
ModulatedCurrentSource
ModulatedVoltageSource
VoltageSource
Hydraulics
Hydraulics
Building Hydraulic Models
Flow
Components
HydraulicInertia
Line
Node
Cylinders
Basic Cylinders
Cylinder
CylinderChamberA
CylinderChamberB
CylinderSpringReturn
CylinderDouble
CylinderSingleSpringReturn
CylinderSingle
Fluids
FluidProperties
Motors
Basic Motors
DisplacementMotor
VariableDisplacementMotor
DisplacementMotor-Leakage
VariableDisplacementMotor-Leakage
Pumps
Basic Pumps
DisplacementPump
FlowSource
ModulatedFlowSource
ModulatedPressureSource
PressureSource
VariableDisplacementPump
CentrifugalPump
DisplacementPump-Leakage
FlowSource-Leakage
ModulatedFlowSource-Leakage
VariableDisplacementPump-Leakage
Restrictions
LaminarResistance
Orifice
VariableLaminarResistance
VariableOrifice
Sensors
DifferentialPressureSensor
FlowSensor
HeadSensor
PowerSensor
PressureSensor
VolumeSensor
Valves
Basic Valves
CheckValve
FlowControlValve
FourThreeWayDirectionalValve
FourThreeWayProportionalValve
LoopFlushingValve
PilotOperatedCheckValve
PilotOperatedPressureReliefValve
PressureCompensator
PressureReducingValve
PressureReliefValve
ShuttleValve
TwoTwoWayDirectionalValve
TwoTwoWayProportionalValve
CheckValve-States
CounterbalanceValve-States
FlowControlValve-States
FourThreeWayDirectionalValve-States
FourThreeWayProportionalValve-States
LoopFlushingValve-States
PilotOperatedCheckValve-States
PressureCompensator-States
PressureReducingValve-States
PressureReliefValve-States
ShuttleValve-States
TwoTwoWayValve-States
TwoTwoWayProportionalValve-States
Volumes
Accumulator
ExternalLeakage
ParasiticVolume
Tank
Volume
Mechanical
Mechanical
Rotation
Actuators
AccelerationActuator-Relative
AccelerationActuator
ACMotor-TorqueLoop.em
ACMotor
DCMotor
PositionActuator-Relative
ServoMotor
PositionActuator
Steppermotor
Torque-Relative
Torque
TorqueActuator-Relative
TorqueActuator
Velocity-Relative
Velocity
VelocityActuator-Relative
VelocityActuator
Components
Backlash
Bearing
Brake
Clutch
Damper
FixedWorld
Friction
Inertia
Node
Spring
SpringDamper
Unbalance
ZeroTorque
Gears
BeltPulley
Cam-Wizard
CamRod
CrankRod
DifferentialGear
Differential
Gear
PlanetaryGear
RackPinionGear
Spindle
TimingBelt
Transmission
UniversalCoupling
Wormgear
Sensors
AccelerationSensor-Absolute
AccelerationSensor-Relative
Encoder
PositionSensor-Absolute
PositionSensor-Relative
Potentiometer
PowerSensor
Tachometer
TorqueSensor
VelocitySensor-Absolute
VelocitySensor-Relative
Translation
2DSmallRotation
2D Library (Small Rotations)
Ports
Small Rotations
Connections
TwoDBody
TwoDPoint Models
TwoDPoint
TwoDFixedWorld
TwoDZeroForce
Sensors
TwoDPositionSensor
TwoDVelocitySensor
TwoDAccelerationSensor
TwoDForceSensor
TwoDPowerSensor
Springs and other Flexible Components
TwoDSpring
TwoDLinearSlide
TwoDLinearActuator
Tips
3DSmallRotation
ThreeDLibrary
ThreeDBody
ThreeDFixedWorld
ThreeDForceActuator-Relative
ThreeDForceActuator
ThreeDMass
ThreeDPoint
ThreeDPositionSensor
ThreeDSpringDamper
ThreeDZeroForce
Actuators
AccelerationActuator-Relative
AccelerationActuator
CMABender
CMAStretcher
Force-Relative
Force
ForceActuator-Relative
ForceActuator
PositionActuator-Relative
PositionActuator
ServoMotor
Velocity-Relative
Velocity
VelocityActuator-Relative
VelocityActuator
Components
Backlash
Collision-Relative
Collision
Damper
FixedWorld
Friction
Friction-Relative
FrictionSimple
FrictionSimple-Relative
Mass
Modal
ModalSummer
Node
ShockAbsorber
SkyHookDamper
Spring
SpringDamper
ZeroForce
Sensors
AccelerationSensor-Absolute
AccelerationSensor-Relative
ForceSensor
PositionSensor-Absolute
PositionSensor-Relative
PowerSensor
VelocitySensor-Absolute
VelocitySensor-Relative
Transmission
BeltPulley
Cam-Wizard
CamRod
CrankRod
Fork
Lever
RackPinionGear
Spindle
TimingBelt
Transmission
UniversalLever
Thermal
Thermal
Components
Convection
Ground
HeatCapacity
Radiation
ThermalConductance
ThermalResistor
Generators
HeatFlow
ModulatedHeatFlow
ModulatedTemperatureSource
Resistor
TemperatureSource
Thermistor
Sensors
HeatFlowSensor
TemperatureSensor
Signal
Block Diagram
Attenuate
Delay-Pade
Delay-Step
Delay-Time
Delay-VariableTime
Demux
DemuxBoolean
DemuxInteger
DemuxString
Differentiate-Calculus
Differentiate-FO
Differentiate-SVF
Differentiate
Filter
Gain
Integrate-ExpWindow
Integrate-FO
Integrate-FOLimited
Integrate-Limited
Integrate-RectWindow
Integrate-Reset
Integrate
Inverse
Linear System
MultiplyDivide
Mux
MuxBoolean
MuxInteger
MuxString
Negate
PlusMinus
SignalMonitor
Splitter
Block Diagram Non-Linear
DeadZone
Eventhit
Function-2DTable
Function-Absolute
Function-Cosine
Function-DB
Function-Log
Function-Power
Function-Sign
Function-Sine
Function-Square
Function-SquareRoot
Function-SquareRootSign
Function-SquareSign
Function-Table
Function-Tan
Function-Truncation
SignalLimiter-Backlash
SignalLimiter-Hysteresis
SignalLimiter-Limit
SignalLimiter-JumpRateLimit
SignalLimiter-PWM
SignalLimiter-RateLimit
SignalLimiter-Relay
SignalLimiter-RelayHysteresis
switch-Break
Switch-Default
Switch-Make
Switch-Maximum
Switch-Minimum
Control
Controlled Linear Systems
ControlledLinearSystem
ControlledSystem
Neural Networks
BSplineNetwork
MLPNetwork
PID Control
PIDControl
Setpoint and other Variables
Proportional Control
Integral Control
Derivative Control
PID Controller Types
Setpoint Weighting
Anti-Windup
Initial Output
Commercial Controllers
Literature
Continuous
Naming Conventions
Controller Use
ControllerWizard
Controller-P
Controller-PD_p
Controller-PD_s
Controller-PI
Controller-PI_sp
Controller-PI_sp_aw
Controller-PI_sp_aw_u0
Controller-PI_sp_aw_u0_tr
Controller-PID_p
Controller-PID_p_sp.
Controller-PID_p_sp_aw
Controller-PID_p_sp_aw_u0
Controller-PID_p_sp_aw_u0_tr
Controller-PID_s
Controller-PID_s_sp
Controller-PID_s_sp_aw
Controller-PID_s_sp_aw_u0
Controller-PID_s_sp_aw_u0_tr
P
PD
PI
PID
Discrete
Naming Conventions
Controller Use
Controller-P
Controller-PD_p
Controller-PD_s
Controller-PI
Controller-PI_sp
Controller-PI_sp_aw
Controller-PI_sp_aw_u0
Controller-PI_sp_aw_u0_tr
Controller-PID_p
Controller-PID_p_sp.
Controller-PID_p_sp_aw
Controller-PID_p_sp_aw_u0
Controller-PID_p_sp_aw_u0_tr
Controller-PID_s
Controller-PID_s_sp
Controller-PID_s_sp_aw
Controller-PID_s_sp_aw_u0
Controller-PID_s_sp_aw_u0_tr
P
PD
PI
PID
Cost Functions
Continuous
CostFunction
Discrete
CostFunction
Discrete
AD
Clock-Discrete
DA-Delay
DA
Delay-n
Delay
DiscreteDifferential
DiscreteIntegral
Hold
LinearSystem
LowPassFilter-FO
LowPassFilter-SO
Quantize-Round
Quantize-Truncate
Sample
SampleTime
Sigma
Events
Event
FrequencyEvent
TimeEvent
Filters
Filter
LowPassFilter-BW2
LowPassFilter-BW4
LowPassFilter-FO
LowPassFilter-SO
Import Export
Matlab
DoFromMatlab
DoMatlab-Final
DoMatlab-Initial
DoMatlab
FromMatlab
ToDoFromMatlab
ToDoMatlab
ToMatlab-Plot
ToMatlab-Store
ToMatlab-Timed
ToMatlab-TimedPlot
ToMatlab-TimedStore
ToMatlab
Logical
Boolean
And
Clock
CMOS_CD4020
CompareGE
CompareGT
CompareLE
CompareLT
False
FTriggerTypeFlipFlop
Invertor
Nand
Nor
Or
ResetSetFlipFlop
RTriggerTypeFlipFlop
SetResetFlipFlop
True
Xor
Real
And
Clock
CMOS_CD4020
CompareGE
CompareGT
CompareLE
CompareLT
DTypeFlipFlop
False
FTriggerTypeFlipFlop
Invertor
Nand
Nor
Or
ResetSetFlipFlop
RTriggerTypeFlipFlop
SetResetFlipFlop
TriggerTypeFlipFlop
True
Xor
Signal Processing
AmplitudeSensor
AssertSignal
Maximum
Mean
Minimum
MovingAverage
PhaseSensor
RootMeanSquare
StandardDeviation
Variance
Sources
Constant
DataFromFile
Joystick
Keyboard
MotionProfile
MotionProfile-Wizard
One
Pi
SignalGenerator-Cycloid
SignalGenerator-FileInput
SignalGenerator-Gaussian Noise
SignalGenerator-Impulse
Random Seed
SignalGenerator-Pulse
SignalGenerator-Ramp
SignalGenerator-Random
SignalGenerator-Step
SignalGenerator-StepTime
Signalgenerator-Sweep
SignalGenerator-Time
SignalMonitor
WaveGenerator-Cosine
WaveGenerator-PhasedSine
WaveGenerator-Saw
WaveGenerator-Sine
WaveGenerator-Square
WaveGenerator-SquareExp
WaveGenerator-Triangle
Zero
Stochastic
Mean
SignalGenerator-Gaussian Noise
Signalgenerator-Random
SignalGenerator-RandomInteger
SignalGenerator-VariableBlock
SignalGenerator-VariablePulse
StandardDeviation
Variance
Transfer Functions
Using Transfer Functions
Linear System
TransferFunction
TransferFunctionWithDeadTime
Various
Library.Signal.Various.PlaySound
Modeling Tutorial
Friction
Introduction
Normal Force
Friction Phenomena
Wet and Dry Friction
Static and Dynamic Phenomena
Comparison of Friction Models
Literature
Bond Graphs
Dynamic Systems
Bond Graphs
Effort and Flow
Bonds
Standard Elements
Orientation
Bonds and Signals
Simplification of Bond Graph Models
Causality
Creating a Bond Graph model
From Iconic Diagram to Bond Graph
Iconic Diagrams to Bond Graphs (Electrical Domain)
Iconic Diagrams to Bond Graphs (Mechanical Domain)
From Bond Graph to Block Diagram
From Bond Graph to Equations
Ports
Creating your own Elements
Bond Graph Literature
Standard Elements
0 and 1 junctions
0 junction
1 junction
Buffers
Resistance
Sources
Modulated Sources
Transformers and Gyrators
Modulated Transformers and Gyrators
Iconic Diagrams
Dynamic Systems
Iconic Diagrams
Across and through
Connections
Orientation (Across)
Orientation (Through)
Global Reference
Causality
Ports
Ports with more than one Terminal
Creating Iconic Diagrams
Creating your own Components
Toolboxes > Animation Toolbox > 3D Animation > Objects
Circle
Navigation:
Toolboxes > Animation Toolbox > 3D Animation > Objects >
Circle
Properties (Specific)
•
You can set the number of
circle elements
.
Properties (General)
•
position
•
orientation
•
scaling
•
color
•
mesh
•
texture
•
material
•
duplication
