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 Mechanical Systems

介绍了机械系统完全动力学问题的键合图法，推导出系统状态方程的统一公式。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，将约束反力视做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。

The bond graph method for the complete dynamic problem of mechanical system is introduced.The unified formula of system state-space equations is derived.To overcome the algebraic difficulty brought by differential causality in formulating system state-space equations,the constraint forces at joints can be considered as unknown effort source and added to the corresponding oJunction in system bond graph model.Finally,a practical example is used to illustrate the generality and validity of this procedure.