A bond graph approach to the modeling of general multibody dynamic systems

A vector bond approach which effectively leads to a compact form of Hamiltonian bond graph structure and naturally to Hamilton’s equation of motion is proposed for the modeling of general multibody dynamic system. The methods for determining required bond graph elements are formulated in terms of kinematic influence coefficients. All moduli of transformers and their time rate of changes are found by pure vector (matrix) operations for the readiness for computer simulation of the resulting bond graph.