| 运动滑道含摩擦多体系统的建模和数值方法 |
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| 引用本文： | 彭慧莲,王琪,庄方方.运动滑道含摩擦多体系统的建模和数值方法[J].动力学与控制学报,2009,7(2):113-118. |
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| 作者姓名： | 彭慧莲 王琪 庄方方 |
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| 作者单位： | 北京航空航天大学理学院,北京,100191 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 研究了运动约束面含摩擦多体系统动力学方程的建立和算法问题．首先利用第一类Lagrange方程给出了系统的动力学方程，并以矩阵形式给出了这类系统摩擦力的广义力的一般表达式．为便于摩擦力和铰链约束力的分析与计算，采用笛卡尔坐标和约束方程的局部方法，使得系统的约束力与Lagrange乘子一一对应．应用增广法将微分一代数方程组转化为常微分方程组并用分块矩阵的形式给出，以便于方程的编程与计算，提高计算效率．最后用一个算例验证了该方法的有效性．
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| 关 键 词： | 多体系统 双面约束 Lagrange乘子 干摩擦 |
| 收稿时间： | 2008/7/28 0:00:00 |
| 修稿时间： | 2008/12/11 0:00:00 |
Modeling and numerical algorithm of multi-body system with friction and moving-bilateral-slot |
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| Peng Huilian,Wang Qi and Zhuang Fangfang.Modeling and numerical algorithm of multi-body system with friction and moving-bilateral-slot[J].Journal of Dynamics and Control,2009,7(2):113-118. |
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| Authors: | Peng Huilian Wang Qi and Zhuang Fangfang |
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| Affiliation: | School of Science;Beijing University of Aeronautics and Astronautics;Beijing 100191;China |
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| Abstract: | A method for dynamics modeling and numerical algorithm of multi-body system with friction and Moving -bilateral-Slot was provided.At first,the dynamic equations of the system were derived from the first kind of Lagrange's equations by using the Cartesian coordinates and local approach of constraint equations.A one-to-one correspondence between the constraint forces of the system and the Lagrange multipliers was established to analyze and compute the friction forces conveniently.Secondly,with the augmentatio... |
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| Keywords: | multi-body system bilateral constraint multiplier of Lagrange dry friction |
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