Dynamic Modelling of Mechatronic Multibody Systems With Symbolic Computing and Linear Graph Theory
John McPhee, Chad Schmitke, Scott Redmond · Mathematical and Computer Modelling of Dynamical Systems · 2004
The application of linear graph theory to the modelling of flexible multibody systems is described. When combined with symbolic computing methods, linear graph theory leads to efficient dynamic models that facilitate real-time simulation of systems of rigid bodies and flexible beams. The natural extension of linear graphs to the modelling of mechatronic multibody systems is presented, along with a recently-developed theory for building complex system models from models of individual subsystems.