A Python framework to create and simulate models with variable structure in common simulation environments

In modelling and simulation, model complexity increases with the complexity of real systems, often resulting in unfeasibly long simulation times. Variable-structure models, which can change their equation set during run-time, offer a solution. This article introduces an object-oriented approach that describes such models independent of a simulation environment. The problem of changing equations during run-time is addressed using a Python framework. Three tools are already integrated, namely, Dymola, OpenModelica and Matlab/Simulink. With this framework, existing models can be easily reused, and the advantages of different simulation tools can be leveraged. The framework is illustrated using a simple satellite launch example, along with instructions for how to use the framework. The main aim of the framework is to simulate complex models with a few mode changes and thus save simulation time. With two real-world examples and a scalability analysis, it is shown that the framework fulfils these requirements.