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Simulation methods of rigid holonomic multibody systems with bond graphs

Article dans une revue avec comité de lecture
Author
BOUDON, Benjamin
322672 SIGMA Clermont [SIGMA Clermont]
DANG, Thu Thuy
84073 Laboratoire Systèmes Electrotechniques et Environnement [LSEE]
MARGETTS, Rebecca
BORUTZKY, Wolfgang
ccMALBURET, François
303092 Arts et Métiers Paristech ENSAM Aix-en-Provence
543315 Laboratoire d’Ingénierie des Systèmes Physiques et Numériques [LISPEN]

URI
http://hdl.handle.net/10985/16937
Date
2019
Journal
Advances in Mechanical Engineering

Abstract

Bond graph software can simulate bond graph models without the user needing to manually derive equations. This offers the power to model larger and more complex systems than in the past. Multibond graphs (those with vector bonds) offer a compact model which further eases handling multibody systems. Although multibond graphs can be simulated successfully, the use of vector bonds can present difficulties. In addition, most qualitative, bond graph–based exploitation relies on the use of scalar bonds. This article discusses the main methods for simulating bond graphs of multibody systems, using a graphical software platform. The transformation between models with vector and scalar bonds is presented. The methods are then compared with respect to both time and accuracy, through simulation of two benchmark models. This article is a tutorial on the existing methods for simulating three-dimensional rigid and holonomic multibody systems using bond graphs and discusses the difficulties encountered. It then proposes and adapts methods for simulating this type of system directly from its bond graph within a software package. The value of this study is in giving practical guidance to modellers, so that they can implement the adapted method in software.

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