| 含干摩擦多体系统Lagrange方程的数值算法 |
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| 引用本文： | 王剑锋,王棋. 含干摩擦多体系统Lagrange方程的数值算法[J]. 动力学与控制学报, 2004, 2(2): 58-61 |
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| 作者姓名： | 王剑锋 王棋 |
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| 作者单位： | 北京航空航天大学理学院,北京,100083;北京航空航天大学理学院,北京,100083 |
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| 基金项目： | 国家自然科学基金资助项目(10272008)。~~ |
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| 摘 要： | 利用第一类Lagrange方程建立了固定约束面含干摩擦的多体系统动力学方程，将摩擦力的广义力用矩阵形式描述．利用增广法。将微分-代数方程转换成常微分方程，并用矩阵形式给出，提高了计算效率．最后用算例说明该方法的有效性．
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| 关 键 词： | 多体系统 摩擦 数值方法 |
| 收稿时间： | 2004-04-13 |
| 修稿时间： | 2004-04-13 |
The Numerical method for lagrange's equations of multibody system with dry friction |
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| Wang Jianfeng and Wang Qi. The Numerical method for lagrange's equations of multibody system with dry friction[J]. Journal of Dynamics and Control, 2004, 2(2): 58-61 |
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| Authors: | Wang Jianfeng and Wang Qi |
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| Abstract: | First by using the first kind of Lagrange's equations, this paper presented the dynamical equations of multibody system with friction constraints,and the generalized forces of friction forces were described in the matrix form. Then by using the Baumgarte's method and the augmentation approach, the differential-algebraic equations were converted into the matrix form of differential equation, which can improve the calculating efficiency. Finally the numerical results proved the method to be effective. |
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| Keywords: | multibody system friction numerical method |
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