A comparison of different methods for modelling electromechanical multibody systems

被引：44
|
作者：
Sass, L
McPhee, J
Schmitke, C
Fisette, P
Grenier, D
机构：
[1] Catholic Univ Louvain, Ctr Res Mechatron, B-1348 Louvain, Belgium
[2] Univ Waterloo, Waterloo, ON N2L 3G1, Canada
来源：
MULTIBODY SYSTEM DYNAMICS | 2004年 / 12卷 / 03期
关键词：
multibody dynamics; electromechanical systems; modelling; linear graph; bond graph; Virtual Work;
D O I：
10.1023/B:MUBO.0000049196.78726.da
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
Procedures for modelling multibody systems are well known and many formulations and tools are available for these types of systems. For several years, emphasis has been placed on the modelling of electromechanical systems, particularly multibody systems, such as robots, which are driven by electrical actuators. In this paper, three different unified modelling strategies, based on the virtual work principle, linear graph and bond graph theories, are presented and compared. Three examples, including non-academic applications, illustrate this comparison.
引用
收藏
页码：209 / 250
页数：42
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