Recommended integration methods

To simulate mechanical systems that do not contain nonlinear elements, for example, a simplified model of the mechanical part of the electrical drive, it is allowed to use the Euler method.

It is recommended to use adaptive methods with variable integration step size, for example, Runge-Kutta methods "RK3", "RK4" and others, as well as methods "ARK21(Adaptive 1)" or "AM61(Adaptive 4)(ode113)" to simulate mechanical systems that include models of friction, backlash, contact interactions with stops and similar processes characterized by abrupt changes in model parameters.

If the simulation speed is low or the numerical solution is unstable (there is a "bounce" of values in the model), it is recommended to use the "Gear51 (ode15s)" method.

When using methods with a variable integration step size, in the event of a warning "The specified accuracy is not achieved", the value of the minimum integration step should be reduced.