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| 非惯性系平面多体机械系统键合图模型及其动力学原理 | |
| 引用本文： | 王中双,陆念力,徐长顺.非惯性系平面多体机械系统键合图模型及其动力学原理[J].机械设计与研究,2006,22(1):37-40,59. |
| 作者姓名： | 王中双 陆念力 徐长顺 |
| 作者单位： | 1. 哈尔滨工业大学,机电工程学院,哈尔滨,150001;齐齐哈尔大学,机械工程学院,齐齐哈尔,161006 2. 哈尔滨工业大学,机电工程学院,哈尔滨,150001 3. 齐齐哈尔大学,机械工程学院,齐齐哈尔,161006 |
| 摘 要： | 从能量守恒的基本原理出发，讨论了键合图中的多通口元件MTF所具有的性质。以此为基础阐述了建立非惯性系平面多体机械系统键合图模型的一般方法及其动力学原理。将运动副约束反力视做未知势源加在系统键合图模型相应的0—结处，有效地解决了微分因果关系及非线性结型结构所带来的十分困难的代数问题，实现了计算机自动建摸。实际算例表明了所述方法的有效性。 |
| 关 键 词： | 非惯性系 多体机械系统 完全动力学 键合图 动力学原理 |
| 文章编号： | 1006-2343（2006）01-037-04 |
| 收稿时间： | 2005-05-10 |
| 修稿时间： | 2005-05-10 |
The Bond Graph Model of Planar Multibody Mechanical Systems in Non-inertial Coordinate Systems and Its Dynamic Principle |
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| WANG Zhong-shuang,LU Nian-li,XU Chang-shun.The Bond Graph Model of Planar Multibody Mechanical Systems in Non-inertial Coordinate Systems and Its Dynamic Principle[J].Machine Design and Research,2006,22(1):37-40,59. | |
| Authors: | WANG Zhong-shuang LU Nian-li XU Chang-shun |
| Affiliation: | 1.School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China ; 2. School of Mechanical Engineering,Qiqihar University,Qiqihar 161006, China |
| Abstract: | From the viewpoint of energy conservation,the properties of bond graph multiport element MTF are discussed.Based on this,the generic procedure of modeling multibody mechanical systems in non-inertial coordinate systems by bond graphs and its dynamic principle are described.To solve the very difficult algebraic problem caused by differential causality and nonlinear junction structure,the constraint forces at joints can be considered as unknown effort sources and added to the the corresponding 0-junctions of system's bond graph model.As a result,the automatic modeling on a computer is realized.The validity of the procedure is illustrated by a practical example. |
| Keywords: | non-inertial coordinate systems multibody mechanical system complete dynamics bond graph dynamic principle |
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