柔性多体系统动力学的递推建模与算法

基于将２种变量的耦合运算降低到最少的数学模型的建立,是解决柔性多体系统动力学数值病态的关键。提出一种柔性多体系动力学的单向递推建模方法。在此基础上提出了一种新的违约校正方法,在数值计算上给予保证,最后,通过对一个闭环柔性多体系统的动力学与控制仿真计算的实现,表明上述方法的可行性。

Recursive Formulation of Dynamics for Flexible Multibody Systems

Development of a dynamics model, in which as possible as few coupling calculations between the two kinds of variables describing the motion of flexible multibody system are obtained,is a key of solving the illness of numerical calculation.On the basis of this viewpoint, a forward recursive formulation of dynamics for flexible multibody system is established in this paper, which has higher accuracy, efficiency and stability of numerical calculation.A new method of violation adjustment is given to ensure completing the dynamics simulation.Finally, an example of dynamics simulation for a flexible multibody system with closed loops is used to verify the feasibility of the formulation and method.