Alternative Causality Assignment Procedures in Bond Graph for Mechanical Systems

2002 ◽  
Vol 124 (3) ◽  
pp. 457-463 ◽  
Author(s):  
Wilfrid Marquis-Favre ◽  
Serge Scavarda
Keyword(s):  
Engineering Education ◽  
Lagrange Multipliers ◽  
System Modeling ◽  
Bond Graph ◽  
Graph Representation ◽  
Dynamic Equations ◽  
Lagrange Equations ◽  
Hamilton Equations ◽  
Alternative Procedures ◽  
Boltzmann Hamel Equations

This paper proposes to extend the set of causality assignment procedures. The proposed alternative procedures are mainly inspired by formulations developed in the mechanical domain. They enable Lagrange equations, Hamilton equations, and Boltzmann-Hamel equations to be obtained, as well as formulations with the Lagrange multipliers. In the context of system modeling a varied set of mechanical oriented equations are available in a systematic way from the bond graph representation and the proposed corresponding procedures provide an algorithmic frame for programming these mathematical formulations. The graphical features of the bond graph tool and the causality stroke concept enable formulations to be methodically obtained, formulations that can otherwise be very awkward to express. Also these procedures emphasize certain interesting properties of the bond graph tool e.g.: there is a clear distinction between the energy topology of a system and its dynamic equations; it also enables graphic structural analyses to be undertaken; and finally it can play a pedagogical role in engineering education.

The Determination of Maximum Range for an Unpowered Atmospheric Vehicle

1964 ◽  
Vol 68 (638) ◽  
pp. 111-116 ◽  
Author(s):  
D. J. Bell
Keyword(s):  
Calculus Of Variations ◽  
Lagrange Multipliers ◽  
Digital Computer ◽  
Necessary Conditions ◽  
Lagrange Equations ◽  
Initial Portion ◽  
End Conditions ◽  
Maximum Range ◽  
Isothermal Atmosphere

SummaryThe problem of maximising the range of a given unpowered, air-launched vehicle is formed as one of Mayer type in the calculus of variations. Eulers’ necessary conditions for the existence of an extremal are stated together with the natural end conditions. The problem reduces to finding the incidence programme which will give the greatest range.The vehicle is assumed to be an air-to-ground, winged unpowered vehicle flying in an isothermal atmosphere above a flat earth. It is also assumed to be a point mass acted upon by the forces of lift, drag and weight. The acceleration due to gravity is assumed constant.The fundamental constraints of the problem and the Euler-Lagrange equations are programmed for an automatic digital computer. By considering the Lagrange multipliers involved in the problem a method of search is devised based on finding flight paths with maximum range for specified final velocities. It is shown that this method leads to trajectories which are sufficiently close to the “best” trajectory for most practical purposes.It is concluded that such a method is practical and is particularly useful in obtaining the optimum incidence programme during the initial portion of the flight path.

Open Systems Formulation and Gaining Insight Using Lagrangian Bond Graphs

2000 ◽  
Author(s):  
Robin C. Redfield
Keyword(s):  
System Dynamics ◽  
Open Systems ◽  
Classical Method ◽  
System Modeling ◽  
Bond Graph ◽  
Small Scale ◽  
Bond Graphs ◽  
Model Modification ◽  
System Equations ◽  
Insight Into

Abstract Models of a small-scale water rocket are developed as an example of open system modeling by both the bond graph approach and a more classical method. One goal of the development is to determine the benefits of the bond graph approach into affording insight into the system dynamics. Both modeling approaches yield equivalent differential equations as they should, while the bond graph approach yields significantly more insight into the system dynamics. If a modeling goal is to simply find the system equations and predict behavior, the classical approach may be more expeditious. If insight and ease of model modification are desired, the bond graph technique is probably the better choice. But then you have to learn it!

A representation for planar point contact joints in the multibody mechanical bond graph library

1998 ◽  
Vol 212 (4) ◽  
pp. 305-313 ◽  
Author(s):  
W Favre ◽  
S Scavarda
Keyword(s):  
Point Contact ◽  
Bond Graph ◽  
The Body ◽  
Graph Representation ◽  
Kinematic Constraints ◽  
Contact Joint ◽  
Cam Follower ◽  
Mechanical Bond ◽  
Junction Structure ◽  
Two Bodies

In this paper a bond graph representation of the point contact joint between two bodies with any outline curves and in planar motion is proposed. The body geometry and frames are described, the kinematic constraints attached to the point contact joint are identified and the bond graph junction structure is deduced. The example of an elliptic cam-follower is used to illustrate the bond graph representation. In particular this shows the need for the simulation to add strong damping and very stiff elements to the system.

Comparison between Analytical and Vectorial Methods of the Synthesis of Equations of Motion

1983 ◽  
Vol 197 (4) ◽  
pp. 265-274
Author(s):  
Z J Goraj
Keyword(s):  
Angular Momentum ◽  
Analytical Method ◽  
Degrees Of Freedom ◽  
Equations Of Motion ◽  
Discrete Systems ◽  
Momentum Equation ◽  
Lagrange Equations ◽  
Weak Points ◽  
Complicated Geometry ◽  
Boltzmann Hamel Equations

In this paper the advantages and weak points of the analytical and vectorial methods of the derivation of equations of motion for discrete systems are considered. The analytical method is discussed especially with respect to Boltzmann-Hamel equations, as generalized Lagrange equations. The vectorial method is analysed with respect to the momentum equation and to the generalized angular momentum equation about an arbitrary reference point, moving in an arbitrary manner. It is concluded that, for the systems with complicated geometry of motion and a large number of degrees of freedom, the vectorial method can be more effective than the analytical method. The combination of the analytical and vectorial methods helps to verify the equations of motion and to avoid errors, especially in the case of systems with rather complicated geometry.

scholarly journals Higher Order Hamiltonian Systems with Generalized Legendre Transformation

Mathematics ◽  
2018 ◽  
Vol 6 (9) ◽  
pp. 163
Author(s):  
Dana Smetanová
Keyword(s):  
Hamiltonian System ◽  
Hamiltonian Systems ◽  
Higher Order ◽  
Second Order ◽  
Legendre Transformation ◽  
Lagrange Equations ◽  
Hamilton Equations ◽  
Strongly Regular

The aim of this paper is to report some recent results regarding second order Lagrangians corresponding to 2nd and 3rd order Euler–Lagrange forms. The associated 3rd order Hamiltonian systems are found. The generalized Legendre transformation and geometrical correspondence between solutions of the Hamilton equations and the Euler–Lagrange equations are studied. The theory is illustrated on examples of Hamiltonian systems satisfying the following conditions: (a) the Hamiltonian system is strongly regular and the Legendre transformation exists; (b) the Hamiltonian system is strongly regular and the Legendre transformation does not exist; (c) the Legendre transformation exists and the Hamiltonian system is not regular but satisfies a weaker condition.

On the Nonuniqueness of Solutions Obtained With Simplified Variational Principles

1996 ◽  
Vol 63 (3) ◽  
pp. 820-827 ◽  
Author(s):  
H. Mang ◽  
P. Helnwein ◽  
R. H. Gallagher
Keyword(s):  
Variational Principle ◽  
Lagrange Multipliers ◽  
Variational Principles ◽  
Boundary Value ◽  
Geometrically Nonlinear ◽  
Lagrange Equations ◽  
Geometrically Nonlinear Theory ◽  
Nonuniqueness Of Solutions ◽  
Uniqueness Of The Solution ◽  
Bending Of Beams

The attempt to satisfy subsidiary conditions in boundary value problems without additional independent unknowns in the form of Lagrange multipliers has led to the development of so-called “simplified variational principles.” They are based on using the Euler-Lagrange equations for the Lagrange multipliers to express the multipliers in terms of the original variables. It is shown that the conversion of a variational principle with subsidiary conditions to such a simplified variational principle may lead to the loss of uniqueness of the solution of a boundary value problem. A particularly simple form of the geometrically nonlinear theory of bending of beams is used as the vehicle for this proof. The development given in this paper is entirely analytical. Hence, the deficiencies of the investigated simplified variational principle are fundamental.

A Dynamic Sizing Methodology in the Context of an Automotive Application

2002 ◽  
Author(s):  
Olivier Mechin ◽  
Wilfrid Marquis-Favre ◽  
Serge Scavarda ◽  
Pierre Ferbach
Keyword(s):  
Dynamic Behavior ◽  
Bond Graph ◽  
Inverse Model ◽  
Graph Representation ◽  
Automotive Application ◽  
Car Suspension ◽  
System Variables

This paper deals with the application of a dynamic sizing methodology for car suspensions for different given aims of dynamic behavior aims in braking situations. The methodology is based on the establishment of the inverse model from the bond graph representation of the system by using the bicausality concept. By means of an automotive car suspension example and for specific dynamic trajectories imposed on the inverse model, we show how information on the system variables can be obtained in a dynamical sizing phase.

scholarly journals Modelling of Dynamics of a Wheeled Mobile Robot with Mecanum Wheels with the use of Lagrange Equations of the Second Kind

2017 ◽  
Vol 22 (1) ◽  
pp. 81-99 ◽  
Author(s):  
Z. Hendzel ◽  
Ł. Rykała
Keyword(s):  
Mathematical Model ◽  
Kinetic Energy ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Equations Of Motion ◽  
Wheeled Mobile Robot ◽  
Dynamic Equations ◽  
Lagrange Equations ◽  
Wheeled Mobile Robots ◽  
New Type

Abstract The work presents the dynamic equations of motion of a wheeled mobile robot with mecanum wheels derived with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in wheeled mobile robots and they consist of freely rotating rollers attached to the circumference of the wheels. In order to derive dynamic equations of motion of a wheeled mobile robot, the kinetic energy of the system is determined, as well as the generalised forces affecting the system. The resulting mathematical model of a wheeled mobile robot was generated with the use of Maple V software. The results of a solution of inverse and forward problems of dynamics of the discussed object are also published.

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