非惯性系平面机构系统完全动力学问题的键合图法

介绍非惯性系平面机构系统完全动力学问题的键合图法，推导出系统状态方程的统一公式，给出了多种能域相互耦合的非惯性系统平面机构系统键合图模型的建立方法。为克服微分因果关系给系统状态方程建立所带来的代数困难，将约束反力视做未知势源加在系统键合图相应的０－结处。最后，通过实例来说明本文方法的有效性及通用性。

Bond Graph Method for the Complete Dynamics of Planar Linkage in Accelerating Reference Frames

The bond graph method for the complete dynamics of planar linkage systems in accelerating reference frames is introduced. The unified formula of system state space equations is derived, and the general procedure to set up the bond graph model of planar linkage system in accelerating reference frames which includes the coupling of multiple energy domains is suggested. To overcome the algebraic difficulty brought by differential causality in formllating ststem staet space equations, the comstraint forces at joints can be considered as unknown effort sources and added to the corresponding o junctions in sysytem bond graph model. Finally, a practical example is user to illustrate the generality and ualidity of this procedure.