A Unified Object-Oriented Language for Physical Systems Modeling

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Modelica® - A Unified Object-Oriented Language for Physical Systems Modeling Language Specification Version 3.2 March 24, 2010 Abstract This document defines the Modelica 1 language, version 3.2, which is developed by the Modelica Association, a non-profit organization with seat in Linköping, Sweden. Modelica is a freely available, object-oriented language for modeling of large, complex, and heterogeneous physical systems. It is suited for multi-domain modeling, for example, mechatronic models in robotics, automotive and aerospace applications involving mechanical, electrical, hydraulic and control subsystems, process oriented applications and generation and distribution of electric power. Models in Modelica are mathematically described by differential, algebraic and discrete equations. No particular variable needs to be solved for manually. A Modelica tool will have enough information to decide that automatically. Modelica is designed such that available, specialized algorithms can be utilized to enable efficient handling of large models having more than one hundred thousand equations. Modelica is suited and used for hardware-in-the-loop simulations and for embedded control systems. More information is available at http://www.Modelica.org/

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Modelica is a registered trademark of the Modelica Association

Copyright © 1998-2010, Modelica Association (http://www.Modelica.org) All rights reserved. Reproduction or use of editorial or pictorial content is permitted, i.e., this document can be freely distributed especially electronically, provided the copyright notice and these conditions are retained. No patent liability is assumed with respect to the use of information contained herein. While every precaution has been taken in the preparation of this document no responsibility for errors or omissions is assumed. The contributors to this and to previous versions of this document are listed in Appendix E. All contributors worked voluntarily and without compensation.

Table of Contents Preface.................................................................................................................................................7 Chapter 1 1.1 1.2 1.3 1.4

Overview of Modelica...................................................................................................................... 9 Scope of the Specification................................................................................................................ 9 Some Definitions............................................................................................................................ 10 Notation and Grammar................................................................................................................... 10

Chapter 2 2.1 2.2 2.3 2.4 2.5

Scoping, Name Lookup, and Flattening.................................................................51

Flattening Context.......................................................................................................................... 51 Enclosing Classes........................................................................................................................... 51 Static Name Lookup....................................................................................................................... 51 Instance Hierarchy Name Lookup of Inner Declarations............................................................... 53 Simultaneous Inner/Outer Declarations ......................................................................................... 55 Flattening Process .......................................................................................................................... 55

Chapter 6 6.1 6.2

Classes, Predefined Types, and Declarations ........................................................31

Access Control – Public and Protected Elements ......................................................................