Investigation and Simulation of Rigid-body Dynamics Utilizing Bond Graph Notation |
Contents
INTRODUCTION | 5 |
Implementation of a FourPort MTF in | 47 |
Recomendations for Future Work in | 62 |
3 other sections not shown
Common terms and phrases
1-junctions AA cc.c cc.c allowed b₁ Bicm BLTAG bond graph BOND LIST bond numbers C₁ C₂ causality center of mass centroid constitutive relations dashpots desired displacement-modulated displacements Double Pendulum DTF bond DTF element DTF's effort and flow energy ENPORT system Euler angles example Figure I-1a Figure I-3 flow relations four-port MTF FUNCTION IS LINEAR GY GY GY ON NODE gyrostructure I₁ I₂ implemented inertial input Karnopp Lagrangian line code m₁ matrix modulating variables moduli moments of inertia MTF's multiport MTF NN AA cc.c node list number of bonds obtained one-junctions one-ports P₁ parameter cards PDTF physical system printout procedure R₁ R₂ represent rigid body rigid links RIGID-BODY DYNAMICS rotation second approach Section shown in Figure sign convention sign of bond small-angle approximations springs and dashpots Stage standard elements subroutine system of Figure TF's torque Torsion Spring two-port type code velocity X-axis