Understanding multibody dynamics using bond graph representations

✍ Scribed by Dean Karnopp

• Publisher: Elsevier Science
• Year: 1997
• Tongue: English
• Weight: 526 KB
• Volume: 334
• Category: Article
• ISSN: 0016-0032
• DOI: 10.1016/s0016-0032(96)00083-x

✦ Synopsis

The dynamics of complex interconnected mechanical systems can be described using u number of Jbrmalized procedures in thefield of multibody dynamics but it is not always easy to understand the significance of the quantities introduced as part of these various procedures. Bond graphs can also be used to describe mechanical systems and often provide intuitive and physically motivated means Jbr enJbrcing constraints among interacting bodies. Using the example of a multilink inverted pendulum which has been often studied, we show that a bond graph can explain the .form o[multibody system equations. The bond yraph can also suggest practical explicit differential equation,formulations closely related to the descriptor d(fferential algebraic equations of multibody formulations. Some subtleties associated with the interpretation of Lagrange multipliers will also be discussed and related to different ways in which constraint equations can be formulated.