柔性机械系统完全动力学问题的键合图法

Bond Graph Method for the Complete Dynamic Problem ofFlexible Mechanical Systems

介绍了柔性机械系统完全动力学问题的键合图法，推导出了系统状态方程的统一公式。给出了综合考虑刚、弹性及多种能域相互耦合的柔性机械系统键合图模型的建立方法。为克服微分因果关系给系统状态方程建立所带来的代数困难，将约束反力视作未知势源加在系统键合图相应的０结处。最后，通过实例来说明本文方法的有效性及通用性。

In this paper, the unified formula of system statespace equation is derived. The general procedure to give the system bond graph model which includes the coupling of rigidity, flexibility and multiple energy domains is provided. To overcome the algebraic difficulty brought by differential causality in formulating system statespace equation, the constraint force at a joint can be considered as unknown effort source and added to the corresponding 0junction in system bond graph model. Finally, the practical example is used to illustrate the generality and validity of the given procedure.