Overview
| Comment: | Tidied |
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| User & Date: | gawthrop@users.sourceforge.net on 1998-07-27 10:44:50 |
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Context
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1998-07-27
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| 10:46:30 | Initial revision check-in: 034a737436 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
| 10:44:50 | Tidied check-in: 6cb70c9a2f user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
| 10:26:02 | No change - but fixed bug in alias_args check-in: 11fcfc6a20 user: gawthrop@users.sourceforge.net tags: origin/master, trunk | |
Changes
Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_desc.tex from [c35d372a8d] to [1b0381b9ba].
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% Verbal description for system TwoLink (TwoLink_desc.tex)
% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% Revision 1.1 1997/08/15 13:31:00 peterg
% Initial revision
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The acausal bond graph of system \textbf{TwoLink} is
displayed in Figure \Ref{TwoLink_abg} and its label
file is listed in Section \Ref{sec:TwoLink_lbl}.
The subsystems are listed in Section \Ref{sec:TwoLink_sub}.
This is a heirachical version of the example from Section 10.5 of
"Metamodelling". It uses the compound components: {\bf ROD}. {\bf
ROD} is essentially as described in Figure 10.2.
There is no gravity included in this model.
| > > > | | | | | | | | | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 |
% Verbal description for system TwoLink (TwoLink_desc.tex)
% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1 1998/01/19 14:20:07 peterg
% %% Initial revision
% %%
% Revision 1.1 1997/08/15 13:31:00 peterg
% Initial revision
%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
The acausal bond graph of system \textbf{TwoLink} is
displayed in Figure \Ref{TwoLink_abg} and its label
file is listed in Section \Ref{sec:TwoLink_lbl}.
The subsystems are listed in Section \Ref{sec:TwoLink_sub}.
This is a heirachical version of the example from Section 10.5 of
"Metamodelling". It uses the compound components: {\bf ROD}. {\bf
ROD} is essentially as described in Figure 10.2.
There is no gravity included in this model.
This system has a number of dynamic elements (those corresponding to
translation motion) in derivative causality, thus the system is
represnted as a Differential-Algebraic Equation (Section
\Ref{sec:TwoLink_dae.tex}). Hovever, this is of contrained-state form
and therfore can be written as a set of constrained-state equations
(Section \Ref{sec:TwoLink_cse.tex}). The corresponding ordinary
differential equation is complicated due to the trig functions
involved in inverting the E matrix.
As well as the standard representation the ``robot-form'' equations
appear in Section \Ref{sec:TwoLink_rfe}.
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