Title of article :
Stability of rigid body rotation from a bond graph perspective
Author/Authors :
Breedveld، نويسنده , , Peter، نويسنده ,
Issue Information :
روزنامه با شماره پیاپی سال 2009
Abstract :
This paper describes the history of the bond graph description of rigid body rotation dynamics and resolves a paradox that resulted from the common Euler Junction Structure (EJS) description of the exterior product in the Newton–Euler equation describing rigid body rotation [D.C. Karnopp, R.C. Rosenberg, Analysis and Simulation of Multiport Systems – The Bond Graph Approach to Physical Systems Dynamics, MIT Press, Boston, 1968; D.C. Karnopp, The energetic structure of multibody dynamic systems, J. Franklin Inst. 306 (2) (1978) 165–181]. The proposed alternative representation that resolves this paradox allows direct insight into the stability of rotations around the principal axes of a rigid body. It eliminates the bond loop and it is shown to be a canonical decomposition of the corresponding nonlinear 3-port gyrator, whereas the EJS is not canonical. The consequences of these differences are demonstrated, in particular the increased expressive power of this notation, which is particularly important in education.
Keywords :
Rigid body dynamics , (Multi-)bond graphs , Stability(Canonical) decomposition , Modeling methodology
Journal title :
Simulation Modelling Practice and Theory
Journal title :
Simulation Modelling Practice and Theory