Simulation of Multi-body Systems Using Multi-bond Graphs

摘要: The use of multi-bond graphs (MBGs) has an increasing importance in the development large mechanical systems, called multi-body systems (MBS), composed a finite number rigid bodies interconnected by kinematical constraints. constitutive relationships resistors, transformers, and gyrators give way to zero-order causal paths (ZCPs) whose most important peculiarity is that their associated topological loops involve more than one direction. Two different methods are used solve ZCPs. With first one, Lagrange multipliers introduced means new flows efforts as break variables paths, adding constraint equations. second directly open procedure solves problem implies presence Several algorithms have been developed obtain set result differential–algebraic equations (DAEs) solved using backward differential formulae (BDF) numerical method. An application with combination classes ZCPs will be shown.