Stability of rigid body rotation from a bond graph perspective


Breedveld, Peter (2009) Stability of rigid body rotation from a bond graph perspective. Simulation Modelling Practice and Theory, 17 (1). pp. 92-106. ISSN 1569-190X

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Abstract:This paper describes the history of the bond graph description of rigid body rotation dynamics and resolves a paradox that resulted from the common Euler Junction Structure (EJS) description of the exterior product in the Newton–Euler equation describing rigid body rotation [D.C. Karnopp, R.C. Rosenberg, Analysis and Simulation of Multiport Systems – The Bond Graph Approach to Physical Systems Dynamics, MIT Press, Boston, 1968; D.C. Karnopp, The energetic structure of multibody dynamic systems, J. Franklin Inst. 306 (2) (1978) 165–181]. The proposed alternative representation that resolves this paradox allows direct insight into the stability of rotations around the principal axes of a rigid body. It eliminates the bond loop and it is shown to be a canonical decomposition of the corresponding nonlinear 3-port gyrator, whereas the EJS is not canonical. The consequences of these differences are demonstrated, in particular the increased expressive power of this notation, which is particularly important in education.
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Copyright:© 2008 Elsevier
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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