A new formulation for the modular construction of flexible multibody systems is presented. By rearranging the equations for a flexible floating body and introducing the appropriate canonical momenta, the model is recast into a coupled system of ordinary and partial differential equations in port-Hamiltonian (pH) form. This approach relies on a floating frame description and is valid under the assumption of small deformations. This allows including mechanical models that cannot be easily formulated in terms of differential forms. Once a pH model is established, a finite element based method is then introduced to discretize the dynamics in a structure-preserving manner. Thanks to the features of the pH framework, complex multibody systems could be constructed in a modular way. Constraints are imposed at the velocity level, leading to an index 2 quasilinear differential-algebraic system. Numerical tests are carried out to assess the validity of the proposed approach.

提出了一种用于柔性多体系统的模块化构造的新公式。通过重新排列挠性浮体的方程式并引入适当的规范动量，可将模型重铸为Port-Hamiltonian（pH）形式的常微分方程和偏微分方程的耦合系统。该方法依赖于浮动框架描述，并且在较小变形的假设下有效。这允许包括不能轻易地以微分形式表达的机械模型。一旦建立了pH模型，便会引入基于有限元的方法，以保持结构的方式离散化动力学。由于pH框架的特性，可以以模块化方式构建复杂的多体系统。在速度级别施加约束，导致一个指数为2的拟线性微分代数系统。进行了数值测试，以评估所提出方法的有效性。