A Unified Way to Implement Multibody Systems Dynamics Models Using Bond Graph Representation
نویسنده
چکیده
A detailed description of the bond graph representation for the most general type of constraint in multibody systems is presented. This representation has a tight correspondence with our recent object-oriented implementation of the mechanical constraint architecture on Modelica language. The implementation is based on the library of Modelica classes to simulate the sparse multibody systems dynamics. Finally these classes are applied to construct and verify the snakeboard dynamic model.
منابع مشابه
Vehicle dynamics simulation using bond graphs
This work addresses the construction of a fourwheel, nonlinear vehicle dynamic bond graph model and its implementation in the 20sim modeling and simulation environment. Nonlinear effects arising from the coupling of vertical, longitudinal and lateral vehicle dynamics, as well as geometric nonlinearities coming from the suspension system are taken into account. Transmission and (a simplified) en...
متن کاملBond Graph Modelling and Simulation of Mechatronic Systems An Introduction into the Methodology
This paper introduces into a graphical, computer aided modelling methodology that is particularly suited for the concurrent design of mechatronic systems, viz. of engineering systems with mechanical, electrical, hydraulic or pneumatic components including interactions of physical effects from various energy domains. Beyond the introduction, bond graph modelling of multibody systems, as an examp...
متن کاملMultibody graph transformations and analysis: Part I: Tree topology systems.
This two-part paper uses graph transformation methods to develop methods for partitioning, aggregating, and constraint embedding for multibody systems. This first part focuses on tree-topology systems and reviews the key notion of spatial kernel operator (SKO) models for such systems. It develops systematic and rigorous techniques for partitioning SKO models in terms of the SKO models of the co...
متن کاملConsistent bond graph modelling of planar multibody systems
Modelling of mechanisms is not a trivial task because the goal is not only to obtain consistent kinematics but also to get proper dynamic loads. Therefore, a modular modelling approach is preferred for large and complex mechanisms. This paper discusses modular bond graph modelling of planar mechanical systems composed of rigid bodies, which are constrained together through a set of joints. Bond...
متن کاملWrapping Multi-bond Graphs: a Structured Approach to Modeling Complex Multi-body Dynamics
Bond graphs have established themselves as a reliable tool for modeling physical systems. Yet, they are highly abstract due to their domain independence. Wrapping techniques allow the modeler to preserve the better of two worlds: the flexibility and reliability of bond graphs on the one hand, and the intuitive appeal and familiarity offered by a domain-specific modeling methodology on the other...
متن کامل