Abstract
An object-oriented approach to dynamic simulation and analysis of multidomain, multiphysics systems is developed. Lagrangian dynamics and a novel numerical differentiation technique are used by the simulation engine to develop automatically the equations of motion from energy expressions, which can incorporate multidomain, multiphysics components. The same modelling methodology is used for both forward and inverse dynamic analysis. Different methods are presented for the solution of inverse dynamic problems, depending on how the desired motion and the control inputs are defined. A graphical approach is developed to test for the structural invertibility of a system for a particular choice of control inputs. A multistage inversion technique is introduced for systems where structural non-invertibility is due to a mismatch of the equation orders. The techniques developed for system inversion are demonstrated by simulated examples.
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Schedule a callMore From: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
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