| 复杂机构开环控制逆动力学方程的一种新解法 |
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| 引用本文： | 毕世华,崔乃刚.复杂机构开环控制逆动力学方程的一种新解法[J].工程力学,1999,16(3):113-119. |
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| 作者姓名： | 毕世华 崔乃刚 |
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| 作者单位： | [1]北京理工大学 [2]哈尔滨工业大学 |
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| 基金项目： | 国家自然科学基金，高等学校博士学科点专项科研基金，北京理工大学引进人才科研启动基金 |
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| 摘 要： | 本文讨论了复杂机构开环控制逆动力学分析的一种新方法。它通过直接设计机构的开环输入，使机构完成给定的运动或跟踪给定的优化轨迹，同时抑制或消除不希望的干扰运动。本文提出了求解所得逆动力学方程的一种较为普遍的解法—模型递推算法，并给出了仿真示例。
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| 关 键 词： | 复杂机构 逆动力学分析 非线性两点边值问题 拟线性化方法 |
A NEW SOLUTION TO THE INVERSE DYNAMIC EQUATION OF OPEN-LOOP CONTROL FOR COMPLICATED MECHANISMS |
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| BI Shi-hua, WANG Yun-yan, RONG Ji-Ii, Cui Nai-gang.A NEW SOLUTION TO THE INVERSE DYNAMIC EQUATION OF OPEN-LOOP CONTROL FOR COMPLICATED MECHANISMS[J].Engineering Mechanics,1999,16(3):113-119. |
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| Authors: | BI Shi-hua WANG Yun-yan RONG Ji-Ii Cui Nai-gang |
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| Abstract: | The inverse dynamic analysis of open-loop control for complicated mechanismswas stUdied in the present paper. The open-loop inputs were determined which can make thecomplicated mechanisms complete the prescribed motions or trace the prescribed optimaltwectories, with the unexpected motions or dissonances being restricted or eliminatedsimultaneously. A common solution tO the inverse dynamic equation-- Model RecurrenceAlgorithm was also ProPOsed and a numerical example was given. |
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| Keywords: | complicated mechanism inverse dynamic analysis nonlinear two-point boundaryvalue problem quasi-linearization method |
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