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Dynamical Analysis of a Flexible Multibody System: Lagrangian Approach

[+] Author Affiliations
Alexis Mouhingou, Naoufel Azouz

Université d’Evry Val d’Essonne, Evry Cedex, France

Paper No. ESDA2006-95216, pp. 149-158; 10 pages
  • ASME 8th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 3: Dynamic Systems and Controls, Symposium on Design and Analysis of Advanced Structures, and Tribology
  • Torino, Italy, July 4–7, 2006
  • ISBN: 0-7918-4250-9 | eISBN: 0-7918-3779-3
  • Copyright © 2006 by ASME


This work presents the dynamical modelling of a flying multibody system. We consider a quadrirotor Helicopter composed of flexible and rigid components. We use the Lagrangian approach to define the equations governing the motion. Deformation modes are used to represent elastic deformation of the substructure relative to a body reference frame. The dynamic model of the whole body interconnected by links is made taking into account the inertial coupling between the rigid body motion and the deformation. The numerical application is related to the quadrirotor XSF developed in the LSC (Laboratory of Complex Systems).

Copyright © 2006 by ASME



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