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本文较详细地介绍了机械系统动态仿真的回转键合图法,推出了机械系统状态方程的统一表达式。与现有的机构动力学方法相比较,本文方法可以用统一的方式对多种能量形式并存的机械系统进行动态仿真。与传统标准的键合图法相比较,所述方法更适用于混合因果关系与非线性几何约束并存的非线性系统。应用本文方法所编制的软件,可在计算机上以格式化的方式自动生成机械系统的状态方程并求解。对含有连杆机构的机械系统,同时还可以求出运动副中的动反力。最后给出实例来验证所述方法的实用性及通用性。
In this paper, a more detailed description of the mechanical system dynamics simulation of the rotary bond diagram, introduced a unified expression of the mechanical system state equation. Compared with the existing method of mechanical dynamics, this method can simulate the mechanical system with many kinds of energy forms in a unified way. Compared with the traditional standard bond graph method, this method is more suitable for the nonlinear system that mixed the causal relationship with the non-linear geometric constraint. The software prepared by this method can automatically generate and solve the state equation of the mechanical system in a formatted manner on a computer. For the mechanical system with linkage, the reaction force in the kinematic pair can also be found. Finally, an example is given to verify the practicability and universality of the method.