A comparative study of computer models for friction and their influence on dynamics of the heavy rigid body on a horizontal surface
Document typeConference report
Rights accessOpen Access
Using an example of a heavy rigid body moving on a horizontal surface and having with it a permanent contact the process of construction and verification for spatial dynamical models of the multibody systems is analyzed. Two approaches to formal representation of the models: object-oriented, and bond graph based are applied. Energy based similarities between these approaches are analyzed. A detailed description of the bond graph representation for the most general type of constraint is presented. It turned out the resulting total bond graph model of the multibody system dynamics always has exactly a so-called canonical junction structure. This representation has a tight correspondence with our object-oriented implementation of the mechanical constraint architecture. As an example Modelica implementation of several classes in the row for mechanical contact is investigated. Computer implementations for three examples of the heavy rigid body dynamics are under investigation: (a) the rattleback, (b) example of A. P. Markeev, (c) the Tippe- Top. Among all of three examples each one demonstrates in its own manner a peculiar dynamical behaviour.
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