The energetic structure of multi-body dynamic systems

✍ Scribed by Dean Karnopp

• Publisher: Elsevier Science
• Year: 1978
• Tongue: English
• Weight: 1003 KB
• Volume: 306
• Category: Article
• ISSN: 0016-0032
• DOI: 10.1016/0016-0032(78)90081-9

✦ Synopsis

Dynamic systems containing particles and rigid bodies capable of movement in two-or three-dimensions may be represented by equations of motion in several basic forms. In all cases geometric nonlinearities are involved and terms arise in the equations which are difficult to understand and interpret. The equations often conceal the basic structure of the dynamic model of the system since only combinations of parameters and combined effects of various constraints finally appear. In this paper the basic relations for the dynamic elements as well as the transformations among internal forces and velocities

are depicted using bond graphs. The energetic structure of the system is thus exhibited in multiport form. This aids in the exploration of alternative equation formulation and in understanding of the assumptions involved in any particular equation set. Further, a bond graph model is easily coupled with nonmechanical dynamic models through force or motion generators.