Question: Multibody System Codegen with Spring/Damper

Hi all,

 i have a problem with the equation generation in MapleSim, when using spring/damper elements in a Multibody-System. As an example, I've created a model of a mass-spring-damper system:

By using the Multibody Analysis Template, I get the following dynamic equation:

Everything looks fine, except of this piecewise term at the end, representing the spring-/damper behavior. (This formulation expresses, that the spring-damper force is zero when the displacement (s_test1_x2(t)) is zero).

I realy don't see any need for this. But most of all this is a realy big problem when I'm trying to linearize the equation, because I'll usualy linearize at a displacement of 0. This obvioulsy leads to an elimination of the whole term. Of course I could use a different (nonzero) linearization point, but this will only fix the problem in this simple case. In more complex models I will have the problem anyway.

I hope the my problem became clear. There must be a way solving this problem, but I haven't found it yet. I hope someone can help.

Greetings