共查询到20条相似文献，搜索用时 15 毫秒
1.
Laura A. Wojcik 《Journal of The Franklin Institute》2003,340(1):63-76
The dynamic effects of muscle strength, timing of muscle activations, and body geometry have been modeled for a wide variety of human activities. These types of models require the development of complex system equations that account for the effects of rigid-body dynamics, musculotendon actuators, passive and active resistance to motion, and other physiological structures. One way in which model refinement can be expedited is through the use of bond graph modeling techniques. While bond graph techniques have been used extensively in a broad variety of applications, they have been used only sparingly in the field of biomechanics, despite the potential suitability of a modular, multidomain approach to the modeling of musculoskeletal function. In the current paper, bond graph modules representing muscle function and rigid-body motions of underlying bone structures are introduced. The system equations generated with the use of these models are equivalent to those developed with more traditional techniques, but the modules can be more easily used in conjunction with control models of neuromuscular function for the simulation of overall dynamic motor performance. 相似文献
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Donald L. Margolis 《Journal of The Franklin Institute》1979,308(3):255-268
A procedure is presented whereby the control volume equations for one-dimensional, compressible gas dynamics are cast into first-order, state variable form. These equations are interpreted using causal bond graphs. The resulting bond graph is shown to reduce to the classic I-C chain under acoustic constraints and to a more recently developed model of low speed thermal energy transport subject to associated constraints.Through example it is demonstrated that the control volume bond graph is easily coupled to an overall system model and thus can be digitally simulated as part of the overall nonlinear state space representation. The result is that a very accurate gas dynamic model can be coupled with an overall dynamic system model without requiring a prohibitively large number of equations. 相似文献
3.
Dean Karnopp 《Journal of The Franklin Institute》1980,310(6):303-316
Lumped parameter, undamped vibratory system models are studied starting from a vector bond graph representation which yields a symmetric set of equations of motion in terms of momenta and displacements. Four additional formulations are obtained depending upon the choices of displacement or impulse-momentum degrees of freedom including the classical formulation in terms of mass displacements. Differences in terms of forcing and response variables are found among the alternative formulations and differences in system order are explained. A new form of normal mode equations is developed using first order symmetric variables and a bond graph representation is given. Advantages in the use of the new model analysis for subsystem coupling are discussed. 相似文献
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Bond graphs are an extremely useful modeling procedure for representing the actual energy exchange mechanisms of interacting dynamic systems. Governing state equations are straightforwardly obtained from the bond graph; however, for large structures, a restrictively large number of equations can result. A procedure is developed whereby the original equations are reduced to a form suitable for modal decomposition. The resulting modes are reinterpreted in bond graph form with the resulting model being an extremely accurate system representation while requiring only a fraction of the original number of equations. The procedure is demonstrated through example. 相似文献
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The paper describes the preparation of a dynamic model required for simulation of a 30 kW electro-hydraulic system used to induce controlled vibration of a wide range of components, machines or structures. The vibrator system is associated with a 28 tonne seismic block. The model is highly detailed to allow study of the system to its dynamic performance limits of around 300 Hz. The model consists of nearly eighty equations some of them nonlinear and discontinuous. The paper describes the orderly development of the model emanating from the bond graph approach. Some simulation results, with limited experimental correlation, are included. 相似文献
6.
C.M. Leech 《Journal of The Franklin Institute》1980,309(2):65-90
The equations of motion of a rigid body are developed in body fixed axes; the aerodynamic forces and moments are expressed as elements of a Taylor series in the six kinematic rates (body velocities and spins). Stability is approached firstly by forcing Jacobi elliptic functions into the equations of motion; stability criteria follow either as unconditional system stability or as a conditional criterion dependent upon the launch conditions. Stability is also considered by way of the motion invariants and their relation to kinetic energy. Three basic systems are considered and numerical integration gives detailed system responses; pertubation of the various aerodynamic effects changes the responses and the stability from unconditional stability to instability or conditional stability. 相似文献
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The identification of subsystems and/or components that is related to a given eigenvalue of the overall system is a challenging and important topic. The use of special structure of the system matrices obtained busing bond graphs can result in identifying subsystems and/or components that affect a given eigenvalue of an overall system. This paper, by making use of a set of theorems and definitions proposes an efficient procedure for this purpose. The basic procedure is based upon the calculation of sensitivity of eigenvalues. The so-called “effect” matrices are produced that indicates the relative importance of physical parameters on a selected eigenvalue. In addition to the relative importance, the effect matrix is used for an efficient physical model reduction procedure. Furthermore, reasons of different dynamic behavior of a system can be explained. Use of effect matrices also improves the physical model reduction method based on decomposition procedures. Three examples are given to illustrate the approach and its consequences. 相似文献
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This paper considers a benchmark system consisting of a rolling ball and a moving car in the oscillating surroundings. By using the Lagrange law, the dynamic model without disturbance is first constructed, then according to the relative motion principle, random oscillation of surroundings is transformed into the random noises in the constructed Lagrange equation. The special structure of the quasi-lower triangle of Lagrange equation motivates us to pay more attention to the vectorial backstepping technique. By selecting an appropriate Lyapunov-like function, a tracking controller with tunable parameters is designed such that all signals of the closed-loop system are bounded and track error can be made arbitrarily small. 相似文献
10.
《Journal of The Franklin Institute》2022,359(7):3238-3290
The space debris removal system (SDRS) of tethered space tug is modelled as a cable dragged flexible spacecraft. The main goal of this paper is to develop a dynamic modeling approach for mode characteristics analysis and forced vibration analysis of the planar motion of a cable dragged flexible spacecraft. Solar arrays of the spacecraft are modelled as multi-beams connected by joints with additional rotating spring where the nonlinear stiffness, damping and friction are considered. Using the Global mode method (GMM), a novel analytical and low-dimensional nonlinear dynamic model is developed for vibration analysis of SDRS to enhance the design capacity for better fulfillment of space tasks. The linear and nonlinear partial differential equations that governing transverse vibration of solar arrays, transverse and longitudinal vibrations of cable are derived, along with the matching and boundary conditions. The natural frequencies and analytical global mode shapes of SDRS are determined, and orthogonality relations of the global mode shapes are established. Dynamical equations of the system are truncated to a set of ordinary differential equations with multiple-DOF. The validity of the method is verified by comparing the natural frequencies obtained from the characteristic equation with those obtained from FEM. Interesting mode localization and mode shift phenomena are observed in mode analysis. Dynamic responses of the system excitated by fluctuation of attitude control torque and short-time attitude control torque are worked out, respectively. Nonlinear behaviors are observed such as hardening, jump and super-harmonic resonances. Residual vibration of the overall system with considering the varous values of nonlinear stiffness, damping coefficient and friction coefficient has shown that the nonlinearity of joints has a great influence on the vibration of the overall system. 相似文献
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In this paper, a model describing the castor three-dimensional dynamic behavior, is presented. A procedure, based on the Udwadia-Kalaba formulation has been implemented to write the castor non-linear motion equations. The model takes into account the flexural and lateral compliance of the castor frame and the phenomena related to the wheel rotation. To prescind from the wheel-road interaction parameters, the hypothesis of no sideslip of the wheel has been adopted but other tire models can be easily implemented. The non-linear system stability is evaluated integrating the motion equations and performing a fitting procedure on the natural steering oscillation. 相似文献
12.
In a previous work an approach was presented for extracting information about the eigenvalues of a linear, time-invariant dynamic system directly from a graphical model. In this paper a generalization is given of the results previously obtained. For some particular cases we can give the entire spectrum. For these cases the spectrum is shown as a function of the structure of an abstract form of the bond graph model. For more general cases, we give upper limits on the imaginery part, and upper and lower limits on the real parts, of the eigenvalues. In contrast to most existing methods, the information about the eigenvalues is generated prior to deriving the state equations. When suitably automated, the results obtained here can provide a considerable reduction in the computational effort required to get information about eigenvalues. This feature is particularly useful in an interactive design context. 相似文献
13.
适用于中尺度系统研究的位涡方程 总被引：1，自引：0，他引：1
本文通过推导绝热、无摩擦大气方程组，讨论了新方程组的特点；新方程组中，位温 显式出现在动量方程中，有利于探讨倾斜的等熵面（等位温面）对中尺度系统发生和发展的影响。进一步，利用此新方程组，推导出适用于中尺度系统研究的新的位涡方程，新位涡方程突出的特点是，与中尺度系统发生、发展密切相关的散度项显式出现在方程的右端；这为研究中尺度系统演变过程中，辐合、辐散效应对系统位涡收支的影响、进而研究中尺度系统发生、发展的热、动力学过程提供了方法。 相似文献
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以刻划著名的Belousov Zhabotinsky化学反应的俄勒冈振子为数学模型 ,研究解决了激励介质中一些悬而未决的理论问题 (如波的存在性和稳定性等 ) ,进一步完善了激励介质的非线性波型动力学的理论体系 .通过Painlev啨分析 ,B¨acklund变换和奇异摄动方法 ,分析地给出了一些常见的波型解 (如行波 ,螺旋波 ,靶型波 ,V 型波 ,涡卷波等 ) .在波前的邻域内 ,通过引进新的运动坐标系 ,获得了波在直角坐标下的运动方程 .特别是定量地给出了刻划小幅波的组织中心沿轴向和径向运动的规律 ,并由此可判定波的组织中心何时沿径向呈现膨胀或收缩 ,何时沿轴向有正向或反向漂移 .这一结果很好地与实验和数值模拟结果相吻合 .此外 ,研究了耦合的俄勒冈振子 ,解决了Tyson于 1 979年提出的一个猜想 (即对耦合的俄勒冈振子 ,稳定的回声波可以和稳定的正定态共存 ) ,提出了一套解决类似问题的一般方法 . 相似文献
16.
A. Sharifi M. Aliyari Shoorehdeli M. Teshnehlab 《Journal of The Franklin Institute》2012,349(1):162-183
Rotary kiln is the central and the most complex component of cement production process. It is used to convert calcineous raw meal into cement clinkers, which plays a key role in quality and quantity of the final produced cement. This system has complex nonlinear dynamic equations that have not been completely worked out yet. In conventional modeling procedure, a large number of the involved parameters are crossed out and an approximation model is presented instead. Therefore, the performance of the obtained model is very important and an inaccurate model may cause many problems for designing a controller. This study presents hierarchical wavelet TS-type fuzzy inference system (HWFIS) for identification of cement rotary kiln. In the proposed method, wavelet fuzzy inference system (WFIS) with two input variables is used as sub-model in a hierarchical structure and gradient descent (GD) algorithm is chosen for training parameters of antecedent and conclusion parts of sub-models. The results show that the proposed method has higher performance in comparison with the other models. The data collected from Saveh White Cement Company is used in our simulations. 相似文献
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基于经验模态分解的中国生态足迹与生态承载力动力学预测 总被引：6，自引：2，他引：4
利用mathcad2001和matlab6.5软件,计算了中国1961年～2005年生态足迹和生态承载力,通过经验模态分解（EMD）方法对其进行分析,在此基础上,建立动力学模型对其未来进行预测,希望能通过对中国生态足迹动态研究,建立一个带有周期波动的动力学预测模型,为研究长时间序列的动态变化提供一个全新的研究方法。通过EMD分析后我们可以得到研究要素的不同时间尺度的演化曲线,将这些曲线看成是系统在不同时间尺度下的特解,则可以根据不同时间尺度的EMD分量的曲线够建起对应的动力模型,如趋势项一般对应于指数或线形动力方程,大尺度的周期分量一般可以对应于正弦或与余弦形式的动力方程,最后我们建立一个总的动力预测模型。研究结果表明：随着生态足迹的增大和生态承载力的减小,中国未来20年的生态赤字越来越大,由2006年的-0.932到2025年的-1.632,接近2倍,发展处于不可持续状态。经验模态分解（EMD）方法能很好的分解出生态足迹和生态承载力的波动周期,符合它们的发展规律,并用动力学预测了它们的发展态势,经拟合表明,预测的结果与实际值误差较小。这说明基于EMD的动力学预测模型是科学的。 相似文献
19.
True bond graphs, which use effort and flow variables whose product is power, can in principle be used to describe all types of physical systems. However, many system models do not use power variables and yet can be represented usefully as pseudo bond graphs. Pseudo bond graphs have been used particularly for open systems in which it is convenient to consider control volumes or compartments with boundaries across which mass can flow. In this paper, we show how the bond graph methods used for conductive and convective heat transfer can be generalized to account for diffusion, convection, and accumulation of a variety of physical quantities and how pseudo bond graphs can aid in constructing and representing such models. These models are known in mathematical biology as “compartmental models” and it is a main contribution of this paper to show that the same pseudo bond graphs apply to thermofluid and physiological dynamic models. The bond graphs build in some conservation principles automatically and yet have the flexibility to incorporate general multiport laws when necessary. Thus the pseudo bond graphs can exhibit system structure as do other network graphs and are very general in nature. 相似文献
20.
细胞信号转导网络的结构复杂,规模庞大,建立的数学模型维数高,变量多,具有高度非线性。在复杂系统分析设计中,模型简化始终是主要的研究问题之一。提出一种基于混合推理方法的模型简化策略,利用代谢控制分析、敏感性分析、主元分析和通量分析相结合,降低系统模型维数,减少生化反应个数,简化系统结构。以NF-κB信号转导网络作为研究对象,原模型由24个常微分方程和64个参数组成,简化模型则包括17个常微分方程,1个代数方程和52个参数。仿真结果表明,简化模型能够准确地预测系统的动态特性,为模型分析和参数辨识提供方便,验证了模型简化策略的有效性。 相似文献