Kane’s Equations for Nonholonomic Systems in Bond-Graph-Compatible Velocity and Momentum Forms
| Phillips, James R. | ||
| Amirouche, Farid | ||
| 2022-02-11T11:27:48Z | ||
| 2022-02-11T11:27:48Z | ||
| 2021 | ||
AbstractThe 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 | ||
| http://hdl.handle.net/10890/16821 | ||
| en | ||
| Kane’s Equations for Nonholonomic Systems in Bond-Graph-Compatible Velocity and Momentum Forms | ||
| Konferenciacikk | ||
| Open access | ||
| Budapest University of Technology and Economics | ||
| 2021.12.12-2021.12.15 | ||
| Online | ||
| ECCOMAS Thematic Conference on Multibody Dynamics | ||
| 2021 | ||
| 978-963-421-870-28 | ||
| Budapest University of Technology and Economics | ||
| Budapest, HU | ||
| Proceedings of the 10th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS | ||
| Műszaki Mechanikai Tanszék | ||
| 212 | ||
| 10.3311/ECCOMASMBD2021-171 | ||
| 223 | ||
| Kane’s equations | ||
| bond graph | ||
| NIC element | ||
| partially Hamiltonian | ||
| partially Lagrangian | ||
| Konferencia kiadvány | ||
| Budapesti Műszaki és Gazdaságtudományi Egyetem |
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