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Matem. Mod., 2009, Volume 21, Number 9, Pages 80–88 (Mi mm2880)  

This article is cited in 1 scientific paper (total in 1 paper)

Graph representations of the multibody systems dynamics models

I. I. Kosenko

Russian State University of Tourism and Service

Abstract: Using an example of the snakeboard, a vehicle with four wheels and nonholonomic constraints, the process of construction and verification for the spatial dynamical models of the multibody systems is analyzed. Two approaches for the formal representation of the models: object-oriented, and bond graph based are considered. Energy based similarities between these approaches are analyzed.
A description of the bond graph representation for the most general type of constraint is presented. It turned out the resulting total bond graph model of the multibody system dynamics always has exactly a canonical junction structure. This representation has a tight correspondence with our recent object-oriented implementation of the mechanical constraint architecture. As an example Modelica implementation of the joint classes family is investigated. Finally these classes are applied to construct the snakeboard dynamic model.

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Received: 20.11.2007

Citation: I. I. Kosenko, “Graph representations of the multibody systems dynamics models”, Matem. Mod., 21:9 (2009), 80–88

Citation in format AMSBIB
\Bibitem{Kos09}
\by I.~I.~Kosenko
\paper Graph representations of the multibody systems dynamics models
\jour Matem. Mod.
\yr 2009
\vol 21
\issue 9
\pages 80--88
\mathnet{http://mi.mathnet.ru/mm2880}
\zmath{https://zbmath.org/?q=an:05701569}


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    This publication is cited in the following articles:
    1. I. I. Kosenko, I. K. Gusev, “Kompyuternaya model dinamiki pryamozubogo evolventnogo zatsepleniya v reduktorakh”, Nelineinaya dinam., 8:4 (2012), 713–734  mathnet
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