Dynamic Modelling of Electromechanical Multibody Systems

A unified methodology for modelling electromechanical multibody systemsis presented. The systems are comprised of rigid or flexible multibodysub-systems and electrical networks of analog components. The sub-systemsare coupled by transducers such as DC motors, moving-plate capacitors,and moving-coil inductors. The electromechanical system is represented bya single graph representation; linear graph theory is then used to generatea relatively small number of system equations. The graph-theoretic formulationis efficient, unifying, and systematic, andwas readily implemented in a computer algorithm using symbolic programming.The formulation and computer implementation are demonstrated using twoexamples of electromechanical systems: a simple condensator microphone anda robot manipulator actuated by DC motors.

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