Abstract
SUMMARY In this paper it is described how a bond graph model of a multibody system is systematically developed. To that end a systematic notation is introduced. A bond graph representation of a freely moving rigid body is given. A word bond graph is used to give an overall view of the structure of the mechanical system and to give an outline of the bond graph. The word bond graph is expanded, word by word to obtain a multibond graph of the motorcycle. A motorcycle is modelled to demonstrate the modelling procedure for complex systems. Differential and algebraic equations are derived from the bond graph of the motorcycle and are solved in time. Simulations with the non-linear dynamic model show the motorcycle steering behaviour during a change in roll angle from 0 to 0.5 rad.
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