Modelling Spatial Flexible Multibody Systems: A Bond Graph Approach Based on a Co-rotational Formulation
Vjekoslav Damić, Maida Cohodar · 2005
This contribution explores application of Bond Graph techniques to modelling multibody systems consisting of interconnected slender bodies that undergo large translational and/or rotational motions. A basic theory of 3D beam motion based on the co-rotational approach is developed. It follows well-known approaches based on finite rotations. However, a velocity formulation is developed here, as it is better suited to Bond Graph modelling. The approach used here is based on object-n oriented techniques. The BondSim application, developed specifically to facilitate such a modelling approach in a visual environment, is used here to develop a 3D Bond Graph beam finite-element (FE) component model. These components can be used to build models of complex mechatronic applications involving flexible bodies. In order to check validity the component model developed it is used to build a Bond Graph model of well-known spin-up maneuver of a flexible beam. Results of simulation conducted show excellent agreement with results referred to in cited literature. Thus, the beam FE Bond Graph components can be used with confidence for modelling other multibody systems.