Kane’s Equations for Nonholonomic Systems in Bond-Graph-Compatible Velocity and Momentum Forms
Date
Type
Konferenciacikk
Language
en
Reading access rights:
Open access
Rights Holder
Budapest University of Technology and Economics
Conference Date
2021.12.12-2021.12.15
Conference Place
Online
Conference Title
ECCOMAS Thematic Conference on Multibody Dynamics
ISSN, e-ISSN
978-963-421-870-28
Container Title
Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS
Department
Műszaki Mechanikai Tanszék
First Page
212
Subject (OSZKAR)
Kane’s equations
bond graph
NIC element
partially Hamiltonian
partially Lagrangian
bond graph
NIC element
partially Hamiltonian
partially Lagrangian
Gender
Konferencia kiadvány
University
Budapesti Műszaki és Gazdaságtudományi Egyetem
- Cite this item
- https://doi.org/10.3311/ECCOMASMBD2021-171
OOC works
Abstract
The authors’ previously published results on a nonholonomic momentum form of Kane’s equations are extended from scleronomic to rheonomic systems. The momentum form is found to be partially Hamiltonian, and a new velocity form is found that is partially Lagrangian. The results are derived for general particle systems, and then specialized to rigid-body systems. Except for externally constrained velocities, all system matrices are independent of time, making the results power-conserving, and suitable for use with bond graphs. A new nonholonomic IC (NIC) bond-graph element is defined, and bond graphs for the new results are exhibited using this element