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Modular modelling of a multiple pendulum with a guided box attached to its end
Author(s) -
Weyh Bernhardt,
Zwiers Ulrike
Publication year - 2014
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201410032
Subject(s) - modular design , planar , pendulum , inverted pendulum , algebraic equation , equations of motion , differential (mechanical device) , differential equation , gravitational field , mechanical system , algebraic number , mathematics , computer science , control theory (sociology) , physics , mathematical analysis , classical mechanics , engineering , mechanical engineering , nonlinear system , control (management) , aerospace engineering , artificial intelligence , computer graphics (images) , quantum mechanics , operating system
A modular modelling strategy which combines motion equations in generalized coordinates with those formulated in terms of redundant coordinates is presented. The general idea is illustrated by the planar model of a multiple pendulum in the gravitational field whose upper end is spatially fixed, while its lower end is attached to an elastically guided box. It is shown how the governing differential‐algebraic system of equations can be reduced to a system of linear differential equations. (© 2014 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)