Development of a Library of Multibond Graphs for Modeling Multibody Systems

The representation of dynamical systems in the form of bond graphs, which make it possible to unify a modular approach to modeling multi-domain physical systems described by laws from various fields of physics, such as mechanics and hydraulics, is considered. Based on multiconnected or vector bond graphs, a library of mechatronic system elements, which accelerates the process of building models and reduces the likelihood of errors, is been developed in MatlabSimulink environment. The structure of the developed library and its main elements, which make it possible to describe systems of several bodies and simulate their motion in various reference frames, are discussed. An example of using the library for modeling a specific mechanical system is given.