The dynamic modelling and simulation of planar flexible multibody systems based on vector bond graph

For the dynamic modelling and simulation of planar flexible multibody sysytems containing electromechanical coupling, the corresponding vector bond graph method was proposed. Based on the kinematic relationship of planar flexible multibody systems, the general procedure for modelling planar flexible multibody systems by vector bond graph is described. The constraint force vectors at joints can be considered as unknown effort source vectors and added to the corresponding 0-junctions of the system vector bond graph model, the differential causality in system vector bond graph model can be eliminated completely or mostly. As a result, the unified modelling and simulation for planar flexible multiybody containing electromechanical coupling is realized. The validity of proposed method is illustrated by a practical example.