A symbolic framework to obtain mid-fidelity models of flexible multibody systems with application to horizontal-axis wind turbines

Abstract. The article presents a symbolic framework (also called computer algebra program) that is used to obtain, in symbolic mathematical form, the linear
and nonlinear equations of motion of a mid-fidelity multibody system including rigid and flexible bodies. Our approach is based on Kane's method
and a nonlinear shape function representation for flexible bodies. The shape function approach does not represent the state of the art for flexible
multibody dynamics but is an effective trade-off to obtain mid-fidelity models with few degrees of freedom, taking advantage of the
separation of space and time. The method yields compact symbolic equations of motion with implicit account of the constraints. The general and
automatic framework facilitates the creation and manipulation of models with various levels of complexity by adding or removing degrees of freedom.
The symbolic treatment allows for analytical gradients and linearized equations of motion. The linear and nonlinear equations can be exported to
Python code or dedicated software. There are multiple applications, such as time domain simulation, stability analyses, frequency domain analyses,
advanced controller design, state observers, and digital twins. In this article, we describe the method we used to systematically generate the
equations of motion of multibody systems and present the implementation of the framework using the Python package SymPy. We apply the framework to
generate illustrative land-based and offshore wind turbine models. We compare our results with OpenFAST simulations and discuss the advantages and
limitations of the method. The Python implementation is provided as an open-source project.
