The Dynamic Modelling and Simulation of Planar Linkage Containing Translational Joint Based on Vector Bond Graph
The procedure of modeling planar linkage containing translational joint by vector bond graphs is described. The constraint force vectors at joints can be considered as unknown effort source vectors and added to the corresponding 0-junctions of the system vector bond graph model, most of the differential causalities in system vector bond graph model can be eliminated. Based on this, the unified formulae of system state space equations and constraint forces at joints are derived, which are easily derived on a computer. As a result, the algebraic difficulty brought up by nonlinear junction structure and differential causality in automatic modelling and simulation can be solved. This procedure is very suitable for the modeling and simulation of the systems containing multi-energy domains in a unified manner, its validity is illustrated by a practical example.
Vector bond graph modelling and simulation Planar linkage Traslational joint Causality
Zhongshuang Wang Jianguo Cao Jianhua Wu
School of Mechatronics Engineering Qiqihar University Qiqihar, China School of Mechatronics Engineering Qiqihar University Qiqihar, China School of Mechatronics Engineering Qiqihar University Qiqihar, China
国际会议
哈尔滨
英文
4397-4401
2011-08-12（万方平台首次上网日期，不代表论文的发表时间）