【摘要】 给出了多体动力学第一类拉格朗日方程的键合图表达,并采用键合图的Modelica库在Dymola中对示例进行了建模和仿真,结果表明,多体动力学拉格朗日方程的键合图表示是非常简单的,清晰地表明了拉格朗日乘子的物理含义,可将其容易地扩展到柔性多体动力学领域,是一种非常合适的多体动力学表达方法。更多还原

【Abstract】 The paper gave the bond graph representation of Lagrange equations of the first kind, and an example was modeled and simulated in Dymola using Modelica library of bond graph.It is shown from discussion that the bond graph representation of Lagrange equation of the first kind is straightforward,and indicate clearly the physical meaning of Lagrange multiplier.It can also be easily extended to flexible muhibody dynamics.So it is a well representation of multibody dynamics.更多还原