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Problem with MultiBody Examples

#962  Permalink Top

Problem with MultiBody Examples

Mar-15-11 15:52:59

Hi,
I am a Windows OpenModelica user (just installed OM 1.61), and I get this error message when I try to simulate the pendulum example from the Modelica library:

Unable to simulate the Model 'Modelica.Mechanics.MultiBody.Examples.Elementary.Pendulum'
Following Error has occurred.

Code:

 Simulation failed for model: Modelica.Mechanics.MultiBody.Examples.Elementary.Pendulum

[C:\\OpenModelica1.6.0\\lib\\omlibrary\\msl31/Modelica/Mechanics/MultiBody/parts.mo:600:5-603:76:writable] Warning: Variable body.r_0: Non-array modification 'if body.enforceStates then StateSelect.always else StateSelect.avoid' for array component, possibly due to missing 'each'.



[C:\\OpenModelica1.6.0\\lib\\omlibrary\\msl31/Modelica/Mechanics/MultiBody/parts.mo:604:5-607:76:writable] Warning: Variable body.v_0: Non-array modification 'if body.enforceStates then StateSelect.always else StateSelect.avoid' for array component, possibly due to missing 'each'.



[C:\\OpenModelica1.6.0\\lib\\omlibrary\\msl31/Modelica/Mechanics/MultiBody/parts.mo:682:5-686:65:writable] Warning: Variable body.w_a: Non-array modification 'if body.enforceStates then if body.useQuaternions then StateSelect.always else StateSelect.never else StateSelect.avoid' for array component, possibly due to missing 'each'.



[C:\\OpenModelica1.6.0\\lib\\omlibrary\\msl31/Modelica/Mechanics/MultiBody/parts.mo:697:5-700:119:writable] Warning: Variable body.Q: Non-array modification 'if body.enforceStates then if body.useQuaternions then StateSelect.prefer else StateSelect.never else StateSelect.avoid' for array component, possibly due to missing 'each'.



[C:\\OpenModelica1.6.0\\lib\\omlibrary\\msl31/Modelica/Mechanics/MultiBody/parts.mo:708:5-711:69:writable] Warning: Variable body.phi: Non-array modification 'if body.enforceStates then if body.useQuaternions then StateSelect.never else StateSelect.always else StateSelect.avoid' for array component, possibly due to missing 'each'.



[C:\\OpenModelica1.6.0\\lib\\omlibrary\\msl31/Modelica/Mechanics/MultiBody/parts.mo:712:5-714:42:writable] Warning: Variable body.phi_d: Non-array modification 'if body.enforceStates then if body.useQuaternions then StateSelect.never else StateSelect.always else StateSelect.avoid' for array component, possibly due to missing 'each'.



Error: Model is structurally singular, error found sorting equations Array eqn no: 6 for variables: rev.R_rel.w[3], rev.R_rel.w[2], rev.R_rel.w[1], rev.R_rel.T[3,3], rev.R_rel.T[3,2], rev.R_rel.T[3,1], rev.R_rel.T[2,3], rev.R_rel.T[2,2], rev.R_rel.T[2,1], rev.R_rel.T[1,3], rev.R_rel.T[1,2], rev.R_rel.T[1,1], rev.R_rel.w[3], rev.R_rel.w[2], rev.R_rel.w[1], rev.R_rel.w[3], rev.R_rel.w[2], rev.R_rel.w[1], rev.R_rel.T[3,3], rev.R_rel.T[3,2], rev.R_rel.T[3,1], rev.R_rel.T[2,3], rev.R_rel.T[2,2], rev.R_rel.T[2,1], rev.R_rel.T[1,3], rev.R_rel.T[1,2], rev.R_rel.T[1,1];

Array eqn no: 6 for variables: rev.R_rel.w[3], rev.R_rel.w[2], rev.R_rel.w[1], rev.R_rel.T[3,3], rev.R_rel.T[3,2], rev.R_rel.T[3,1], rev.R_rel.T[2,3], rev.R_rel.T[2,2], rev.R_rel.T[2,1], rev.R_rel.T[1,3], rev.R_rel.T[1,2], rev.R_rel.T[1,1], rev.R_rel.w[3], rev.R_rel.w[2], rev.R_rel.w[1], rev.R_rel.w[3], rev.R_rel.w[2], rev.R_rel.w[1], rev.R_rel.T[3,3], rev.R_rel.T[3,2], rev.R_rel.T[3,1], rev.R_rel.T[2,3], rev.R_rel.T[2,2], rev.R_rel.T[2,1], rev.R_rel.T[1,3], rev.R_rel.T[1,2], rev.R_rel.T[1,1];

Array eqn no: 6 for variables: rev.R_rel.w[3], rev.R_rel.w[2], rev.R_rel.w[1], rev.R_rel.T[3,3], rev.R_rel.T[3,2], rev.R_rel.T[3,1], rev.R_rel.T[2,3], rev.R_rel.T[2,2], rev.R_rel.T[2,1], rev.R_rel.T[1,3], rev.R_rel.T[1,2], rev.R_rel.T[1,1], rev.R_rel.w[3], rev.R_rel.w[2], rev.R_rel.w[1], rev.R_rel.w[3], rev.R_rel.w[2], rev.R_rel.w[1], rev.R_rel.T[3,3], rev.R_rel.T[3,2], rev.R_rel.T[3,1], rev.R_rel.T[2,3], rev.R_rel.T[2,2], rev.R_rel.T[2,1], rev.R_rel.T[1,3], rev.R_rel.T[1,2], rev.R_rel.T[1,1];

rev.R_rel.w[3] = rev.w * rev.e[3];

rev.R_rel.w[2] = rev.w * rev.e[2];

rev.R_rel.w[1] = rev.w * rev.e[1];

rev.R_rel.T[3,3] = rev.e[3] ^ 2.0 + cos(rev.phi) * (1.0 - rev.e[3] ^ 2.0);

rev.R_rel.T[3,2] = rev.e[3] * rev.e[2] + cos(rev.phi) * ((-rev.e[3]) * rev.e[2]) - sin(rev.phi) * rev.e[1];

rev.R_rel.T[3,1] = rev.e[3] * rev.e[1] + cos(rev.phi) * ((-rev.e[3]) * rev.e[1]) - (-sin(rev.phi)) * rev.e[2];

rev.R_rel.T[2,3] = rev.e[2] * rev.e[3] + cos(rev.phi) * ((-rev.e[2]) * rev.e[3]) - (-sin(rev.phi)) * rev.e[1];

rev.R_rel.T[2,2] = rev.e[2] ^ 2.0 + cos(rev.phi) * (1.0 - rev.e[2] ^ 2.0);

rev.R_rel.T[2,1] = rev.e[2] * rev.e[1] + cos(rev.phi) * ((-rev.e[2]) * rev.e[1]) - sin(rev.phi) * rev.e[3];

rev.R_rel.T[1,3] = rev.e[1] * rev.e[3] + cos(rev.phi) * ((-rev.e[1]) * rev.e[3]) - sin(rev.phi) * rev.e[2];

rev.R_rel.T[1,2] = rev.e[1] * rev.e[2] + cos(rev.phi) * ((-rev.e[1]) * rev.e[2]) - (-sin(rev.phi)) * rev.e[3];

rev.R_rel.T[1,1] = rev.e[1] ^ 2.0 + cos(rev.phi) * (1.0 - rev.e[1] ^ 2.0);

 for variables rev.phi(49), rev.w(48), rev.R_rel.T[1,1](46), rev.R_rel.T[1,2](45), rev.R_rel.T[1,3](44), rev.R_rel.T[2,1](43), rev.R_rel.T[2,2](42), rev.R_rel.T[2,3](41), rev.R_rel.T[3,1](40), rev.R_rel.T[3,2](39), rev.R_rel.T[3,3](38), rev.R_rel.w[1](37), rev.R_rel.w[2](36), rev.R_rel.w[3](35), 

Error: Model is structurally singular, error found sorting equations Array eqn no: 6 for variables: rev.R_rel.w[3], rev.R_rel.w[2], rev.R_rel.w[1], rev.R_rel.T[3,3], rev.R_rel.T[3,2], rev.R_rel.T[3,1], rev.R_rel.T[2,3], rev.R_rel.T[2,2], rev.R_rel.T[2,1], rev.R_rel.T[1,3], rev.R_rel.T[1,2], rev.R_rel.T[1,1], rev.R_rel.w[3], rev.R_rel.w[2], rev.R_rel.w[1], rev.R_rel.w[3], rev.R_rel.w[2], rev.R_rel.w[1], rev.R_rel.T[3,3], rev.R_rel.T[3,2], rev.R_rel.T[3,1], rev.R_rel.T[2,3], rev.R_rel.T[2,2], rev.R_rel.T[2,1], rev.R_rel.T[1,3], rev.R_rel.T[1,2], rev.R_rel.T[1,1];

Array eqn no: 6 for variables: rev.R_rel.w[3], rev.R_rel.w[2], rev.R_rel.w[1], rev.R_rel.T[3,3], rev.R_rel.T[3,2], rev.R_rel.T[3,1], rev.R_rel.T[2,3], rev.R_rel.T[2,2], rev.R_rel.T[2,1], rev.R_rel.T[1,3], rev.R_rel.T[1,2], rev.R_rel.T[1,1], rev.R_rel.w[3], rev.R_rel.w[2], rev.R_rel.w[1], rev.R_rel.w[3], rev.R_rel.w[2], rev.R_rel.w[1], rev.R_rel.T[3,3], rev.R_rel.T[3,2], rev.R_rel.T[3,1], rev.R_rel.T[2,3], rev.R_rel.T[2,2], rev.R_rel.T[2,1], rev.R_rel.T[1,3], rev.R_rel.T[1,2], rev.R_rel.T[1,1];

rev.R_rel.w[3] = rev.w * rev.e[3];

rev.R_rel.w[2] = rev.w * rev.e[2];

rev.R_rel.w[1] = rev.w * rev.e[1];

rev.R_rel.T[3,3] = rev.e[3] ^ 2.0 + cos(rev.phi) * (1.0 - rev.e[3] ^ 2.0);

rev.R_rel.T[3,2] = rev.e[3] * rev.e[2] + cos(rev.phi) * ((-rev.e[3]) * rev.e[2]) - sin(rev.phi) * rev.e[1];

rev.R_rel.T[3,1] = rev.e[3] * rev.e[1] + cos(rev.phi) * ((-rev.e[3]) * rev.e[1]) - (-sin(rev.phi)) * rev.e[2];

rev.R_rel.T[2,3] = rev.e[2] * rev.e[3] + cos(rev.phi) * ((-rev.e[2]) * rev.e[3]) - (-sin(rev.phi)) * rev.e[1];

rev.R_rel.T[2,2] = rev.e[2] ^ 2.0 + cos(rev.phi) * (1.0 - rev.e[2] ^ 2.0);

rev.R_rel.T[2,1] = rev.e[2] * rev.e[1] + cos(rev.phi) * ((-rev.e[2]) * rev.e[1]) - sin(rev.phi) * rev.e[3];

rev.R_rel.T[1,3] = rev.e[1] * rev.e[3] + cos(rev.phi) * ((-rev.e[1]) * rev.e[3]) - sin(rev.phi) * rev.e[2];

rev.R_rel.T[1,2] = rev.e[1] * rev.e[2] + cos(rev.phi) * ((-rev.e[1]) * rev.e[2]) - (-sin(rev.phi)) * rev.e[3];

rev.R_rel.T[1,1] = rev.e[1] ^ 2.0 + cos(rev.phi) * (1.0 - rev.e[1] ^ 2.0);

 for variables rev.phi(49), rev.w(48), rev.R_rel.T[1,1](46), rev.R_rel.T[1,2](45), rev.R_rel.T[1,3](44), rev.R_rel.T[2,1](43), rev.R_rel.T[2,2](42), rev.R_rel.T[2,3](41), rev.R_rel.T[3,1](40), rev.R_rel.T[3,2](39), rev.R_rel.T[3,3](38), rev.R_rel.w[1](37), rev.R_rel.w[2](36), rev.R_rel.w[3](35), 

Error: Model is structurally singular, error found sorting equations $DER.body.frame_a.r_0[3] = 0.0;

 for variables $DER.body.frame_a.r_0[3](77),

I haven`t changed anything in the model. When using Dymola, everything is going fine. What I am doing wrong? Thanks for your help,

Sebastian

#963  Permalink Top

Re: Problem with MultiBody Examples

Mar-15-11 16:56:43

i have tested it also it look likes that there is a error in the body package...

#964  Permalink Top

Re: Problem with MultiBody Examples

Mar-15-11 17:05:09

I also tested some other examples from MultiBody and got similar error messages. I thought that MultiBody is supperted with OM, isnt`t it?

#966  Permalink Top

Re: Problem with MultiBody Examples

Mar-15-11 20:09:49

if it unsupported OM would not show it like the Fluid package, i have testet this Example on an University PC with Dymola and cross check the code roughly and the Body seems to be the same, but Dymola has no Problems  it seems so that  code stays the same....

#1045  Permalink Top

Re: Problem with MultiBody Examples

Apr-07-11 21:26:25

in the r8532 the example works again current/wink

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