modelica建模并导入simulink观察（机械实例）

运行环境

win10系统
安装有jmodelica matlab的simulink

步骤1：模型程序编写

建立文档：SecondOrderSystemInitParams.mo
记录文档所在路径：“C:\Users\U2016\Desktop\cps”
内代码为：

model SecondOrderSystemInitParams
  "A second order rotational system with initialization parameters"
  type Angle=Real(unit="rad");
  type AngularVelocity=Real(unit="rad/s");
  type Inertia=Real(unit="kg.m2");
  type Stiffness=Real(unit="N.m/rad");
  type Damping=Real(unit="N.m.s/rad");
  parameter Angle phi1_init = 0;
  parameter Angle phi2_init = 1;
  parameter AngularVelocity omega1_init = 0;
  parameter AngularVelocity omega2_init = 0;
  parameter Inertia J1=0.4 "Moment of inertia for inertia 1";
  parameter Inertia J2=1.0 "Moment of inertia for inertia 2";
  parameter Stiffness k1=11 "Spring constant for spring 1";
  parameter Stiffness k2=5 "Spring constant for spring 2";
  Damping d1=0.2 "Damping for damper 1";
  Damping d2=1 "Damping for damper 2";
  output Angle phi1 "Angle for inertia 1";
  output Angle phi2 "Angle for inertia 2";
  output AngularVelocity omega1 "Velocity of inertia 1";
  output AngularVelocity omega2 "Velocity of inertia 2";
initial equation
  phi1 = phi1_init;
  phi2 = phi2_init;
  omega1 = omega1_init;
  omega2 = omega2_init;
equation
  omega1 = der(phi1);
  omega2 = der(phi2);
  J1*der(omega1) = k1*(phi2-phi1)+d1*der(phi2-phi1);
  J2*der(omega2) = k1*(phi1-phi2)+d1*der(phi1-phi2)-k2*phi2-d2*der(phi2);
end SecondOrderSystemInitParams;

步骤二：模型在jmodelica下编译，运行

打开ipython
查看当前文件夹是否在安装文件夹下（可用ls命令查看），否则前两个模块载入可能出现问题。
运行以下代码

from pymodelica import compile_fmu 
from pyfmi import load_fmu
import matplotlib.pyplot as plt
fmu_name = compile_fmu("SecondOrderSystemInitParams","C:\Users\U2016\Desktop\cps\SecondOrderSystemInitParams.mo")
SecondOrderSystemInitParams= load_fmu(fmu_name)
res = SecondOrderSystemInitParams.simulate(final_time=10)
phi1 = res['phi1']  
phi2 = res['phi2']
omega1=res['omega1']
omega2=res['omega2']
t=res['time']
plt.figure(1) 
plt.plot(t, phi1,t,phi2,t,omega1,t,omega2) 
plt.show()