How One Can Simulate Dynamics of Rolling Bodies via Dymola: Approach to Model Multibody System Dynamics Using Modelica
Ivan I. Kossenko, Maia S. Stavrovskaia · 2003
An attempt to build more accurately the method to describe dynamics of multibody system (MBS) by means of Modelica is undertaken. In frame of the method under consideration can be simulated constraints of different types: holonomic/nonholonomic, scleronomic/rheonomic. The model of a constraint allows to isolate mutually behavioral descriptions based on differential and algebraic equations correspondingly. To illustrate an approach being applied the implementation of a constraint for bodies, rolling one relative to another is described. As an example the model of rattleback rolling on horizontal surface is investigated.