Partition method for impact dynamics of flexible multibody systems based on contact constraint

The impact dynamics of a flexible multibody system is investigated. By using a partition method, the system is divided into two parts, the local impact region and the region away from the impact. The two parts are connected by specific boundary conditions, and the system after partition is equivalent to the original system. According to the rigid-flexible coupling dynamic theory of multibody system, system＇s rigid-flexible coupling dynamic equations without impact are derived. A local impulse method for establishing the initial impact conditions is proposed. It satisfies the compatibility con- ditions for contact constraints and the actual physical situation of the impact process of flexible bodies. Based on the contact constraint method, system＇s impact dynamic equa- tions are derived in a differential-algebraic form. The contact/separation criterion and the algorithm are given. An impact dynamic simulation is given. The results show that system＇s dynamic behaviors including the energy, the deformations, the displacements, and the impact force during the impact process change dramatically. The impact makes great effects on the global dynamics of the system during and after impact.     

含摩擦与碰撞平面多刚体系统动力学线性互补算法

基于接触力学理论和线性互补问题的算法, 给出了一种含接触、碰撞以及库伦干摩擦, 同时具有理想定常约束(铰链约束) 和非定常约束(驱动约束) 的平面多刚体系统动力学的建模与数值计算方法. 将系统中的每个物体视为刚体, 但考虑物体接触点的局部变形, 将物体间的法向接触力表示成嵌入量与嵌入速度的非线性函数,其切向摩擦力采用库伦干摩擦模型. 利用摩擦余量和接触点的切向加速度等概念, 给出了摩擦定律的互补关系式; 并利用事件驱动法, 将接触点的黏滞-滑移状态切换的判断及黏滞状态下摩擦力的计算问题转化成线性互补问题的求解. 利用第一类拉格朗日方程和鲍姆加藤约束稳定化方法建立了系统的动力学方程, 由此可降低约束的漂移, 并可求解该系统的运动、法向接触力和切向摩擦力, 还可以求解理想铰链约束力和驱动约束力. 最后以一个类似夯机的平面多刚体系统为例, 分析了其动力学特性, 并说明了相关算法的有效性.      

柔性机械臂碰撞系统的一种建模方法及精细积分数值模拟

对一单连杆柔性机械臂与外界发生碰撞时的动力学特性进行了研究。在建立动力学模型时，利用有限元思想，用有限个刚性单元和抗扭连接弹簧来模拟机械臂及其柔性性质，得出了较为简单的非线性动力学方程，根据几何关系，建立了系统在发生碰撞时的约束条件。本文在系统的动力学方程中引入对偶变量，并将方程导向Hamilton体系，用精细积分法对系统的动力学特性进行了模拟。     

Finite element modeling of contact conditions in multibody system dynamics

In this paper a new method is developed for the dynamic analysis of contact conditions in flexible multibody systems undergoing a rolling type of motion. The relative motion between the two contacting bodies is treated as a constraint condition describing their kinematic and geometric relations. Equations of motion of the system are presented in a matrix form making use of Kane's equations and finite element method. The method developed has been implemented in a general purpose program called DARS and applied to the simulation and analysis of a rotating wheel on a track. Both the bodies are assumed flexible and discretized using a three dimensional 8-noded isoparametric elements. The time variant constraint conditions are imposed on the nodal points located at the peripheral surfaces of the bodies under consideration. The simulation is carried out under two different boundary conditions describing the support of the track. The subsequent constraint forces associated with the generalized coordinates of the system are computed and plotted. The effects of friction are also discussed.     

A chassis-based kinematic formulation for flexible multi-body vehicle dynamics

This research proposed an efficient implicit integration method for the real-time simulation of flexible multi-body vehicle dynamics models. The equations of motion for the flexible bodies were formulated with respect to the moving chassis-body reference frame instead of the fixed inertial reference frame. The proposed approach does not require evaluation of system Jacobian and its LU-decomposition in time loof of simulation. This is one of the key aspects that enable high computational efficiency of the proposed method. The numerical simulation results of the proposed approach were matched up with those of the conventional approach but the computation time can be reduced by applying the proposed method. The joint constraint and generalized force equations are the same as the equations for rigid vehicle dynamics models because the joints and forces between flexible bodies are connected by the RBE (rigid body element). On the various driving conditions, the numerical simulation results show that the proposed approach yields almost exact solutions compared to the conventional approach. And the proposed approach spends only 22.9% of conventional approach on computation time under CPU 3.2 GHz personal computer.     

Control structure interaction in the nonlinear analysis of flexible mechanical systems

The effect of the control structure interaction on the feedforward control law as well as the dynamics of flexible mechanical systems is examined in this investigation. An inverse dynamics procedure is developed for the analysis of the dynamic motion of interconnected rigid and flexible bodies. This method is used to examine the effect of the elastic deformation on the driving forces in flexible mechanical systems. The driving forces are expressed in terms of the specified motion trajectories and the deformations of the elastic members. The system equations of motion are formulated using Lagrange's equation. A finite element discretization of the flexible bodies is used to define the deformation degrees of freedom. The algebraic constraint equations that describe the motion trajectories and joint constraints between adjacent bodies are adjoined to the system differential equations of motion using the vector of Lagrange multipliers. A unique displacement field is then identified by imposing an appropriate set of reference conditions. The effect of the nonlinear centrifugal and Coriolis forces that depend on the body displacements and velocities are taken into consideration. A direct numerical integration method coupled with a Newton-Raphson algorithm is used to solve the resulting nonlinear differential and algebraic equations of motion. The formulation obtained for the flexible mechanical system is compared with the rigid body dynamic formulation. The effect of the sampling time, number of vibration modes, the viscous damping, and the selection of the constrained modes are examined. The results presented in this numerical study demonstrate that the use of the driving forees obtained using the rigid body analysis can lead to a significant error when these forces are used as the feedforward control law for the flexible mechanical system. The analysis presented in this investigation differs significantly from previously published work in many ways. It includes the effect of the structural flexibility on the centrifugal and Coriolis forces, it accounts for all inertia nonlinearities resulting from the coupling between the rigid body and elastic displacements, it uses a precise definition of the equipollent systems of forces in flexible body dynamics, it demonstrates the use of general purpose multibody computer codes in the feedforward control of flexible mechanical systems, and it demonstrates numerically the effect of the selected set of constrained modes on the feedforward control law.     

含非理想约束多柔体系统递推建模方法

基于多体系统中邻接物体运动学递推关系,可以证明树状多体系统中末端物体的作用体现为传递给其内接物体的惯性和外力. 由于闭环系统切断铰约束反力和非理想约束反力可看作为系统外力,任何复杂系统都可以转化为等效的树系统,并且系统约束方程中所涉及的广义加速度可以系统化地用描述约束反力的拉氏乘子替换. 基于以上结果,提出了针对含非理想约束多柔体系统递推建模方法. 利用该方法可以将复杂多体系统动态减缩为单个物体,从而在求解系统加速度时不需对整个系统的质量矩阵进行求逆运算,同时大幅度地降低了非理想约束反力方程的维数. 通过一个算例具体说明了所提方法的求解过程,算例结果与现有商业软件所得结果一致.      

平面柔性多体系统正碰撞动力学建模理论研究

针对目前柔性多体系统碰撞动力学建模方法存在的不足,对影响碰撞动力学仿真的主要因素如柔性体建模和碰撞初始条件进行分析,建立起基于变约束的柔性体碰撞动力学方程。首先,为了解决子结构法在处理碰撞界面搜索时面临的难题,引入多体系统柔性体有限元描述方法,推导出凸形柔性体接触点间法向位移约束的二阶导数形式。其次,从碰撞引起的接触界面速度不连续机理出发,结合连续介质力学间断面理论,给出碰撞瞬时由物体本身物理性质决定的接触位置处速度跳跃公式。最后对两弹性圆盘低速碰撞问题进行数值仿真。结果表明本文提出的改进方法符合力学基本原理,仿真结果满足收敛性要求。     

柔性多体系统产生动力刚化原因的研究

传统的柔性多体系统建模理论由于对柔性体的变形及其与大范围运动产生惯性力之间的耦合处理得过于简单,所以在分析存在高速大范围运动柔性多体系统的动力学性态时会得到完全错误的结论。本文将通过对作大范围运动弹性薄板的讨论来揭示产生这种错误的及探讨对传统性多体系统建模理论作出改进的对策     

Application of the lattice‐Boltzmann method to study flow and dispersion in channels with and without expansion and contraction geometry

The lattice‐Boltzmann (LB) method, derived from lattice gas automata, is a relatively new technique for studying transport problems. The LB method is investigated for its accuracy to study fluid dynamics and dispersion problems. Two problems of relevance to flow and dispersion in porous media are addressed: (i) Poiseuille flow between parallel plates (which is analogous to flow in pore throats in two‐dimensional porous networks), and (ii) flow through an expansion–contraction geometry (which is analogous to flow in pore bodies in two‐dimensional porous networks). The results obtained from the LB simulations are compared with analytical solutions when available, and with solutions obtained from a finite element code (FIDAP) when analytical results are not available. Excellent agreement is found between the LB results and the analytical/FIDAP solutions in most cases, indicating the utility of the lattice‐Boltzmann method for solving fluid dynamics and dispersion problems. Copyright © 1999 John Wiley & Sons, Ltd.     

Formulation of Three-Dimensional Joint Constraints Using the Absolute Nodal Coordinates

A wide variety of mechanical and structural multibody systems consist ofvery flexible components subject to kinematic constraints. The widelyused floating frame of reference formulation that employs linear modelsto describe the local deformation leads to a highly nonlinear expressionfor the inertia forces and can be applied to only small deformationproblems. This paper is concerned with the formulation and computerimplementation of spatial joint constraints and forces using the largedeformation absolute nodal coordinate formulation. Unlike the floatingframe of reference formulation that employs a mixed set of absolutereference and local elastic coordinates, in the absolute nodalcoordinate formulation, global displacement and slope coordinates areused. The nonlinear kinematic constraint equations and generalized forceexpressions are expressed in terms of the absolute global displacementsand slopes. In particular, a new formulation for the sliding jointbetween two very flexible bodies is developed. A surface parameter isintroduced as an additional new variable in order to facilitate theformulation of this sliding joint. The constraint and force expressionsdeveloped in this paper are also expressed in terms of generalizedCholesky coordinates that lead to an identity inertia matrix. Severalexamples are presented in order to demonstrate the use of theformulations developed in the paper.     

Slender-body theory for viscous flow via dimensional reduction and hyperviscous regularization

A new slender-body theory for viscous flow, based on the concepts of dimensional reduction and hyperviscous regularization, is presented. The geometry of flat, elongated, or point-like rigid bodies immersed in a viscous fluid is approximated by lower-dimensional objects, and a hyperviscous term is added to the flow equation. The hyperviscosity is given by the product of the ordinary viscosity with the square of a length that is shown to play the role of effective thickness of any lower-dimensional object. Explicit solutions of simple problems illustrate how the proposed method is able to represent with good approximation both the velocity field and the drag forces generated by rigid motions of the immersed bodies, in analogy with classical slender-body theories. This approach has the potential to open up the way to more effective computational techniques, since geometrical complexities can be significantly reduced. This, however, is achieved at the expense of involving higher-order derivatives of the velocity field. Importantly, both the dimensional reduction and the hyperviscous regularization, combined with suitable numerical schemes, can be used also in situations where inertia is not negligible.     

两自由度振动系统的斜碰撞分析

研究斜碰撞振动系统动力学的一个关键问题是对系统在碰撞前后的状态进行合理描述和正确计算．针对两弹性体斜碰撞问题，基于瞬间碰撞假设，提出了采用步进冲量来分析和求解斜碰撞前后的状态关系；并以弹簧摆和振子组成的两自由度斜碰撞振动系统为例，具体介绍了该算法如何实现．用解析方法讨论了该系统在斜碰撞过程中可能出现的各种力学现象，将冲量步进算法得到的数值解与解析结果进行对比，取得了完全一致的结果．该数值方法能适应多种斜碰撞问题的计算．     

The complete infinite series solution of systems governed by the wave equation with boundary damping

A common method of solving initial boundary value problems is separation of variables, denoted as modal analysis in the field of flexible structures. For systems with undamped boundary conditions the method is well-established, but for systems with boundary damping it does not provide closed form solutions. In this paper the exact modal series solution for second order systems with damped boundaries is derived with explicit expressions for the series coefficients. Knowledge of these coefficients enables practical applications of the solution, such as finite dimension approximation. The key element of the derivation is a new orthogonality condition for the damped eigenfunctions. The modal series is also transformed into a traveling wave form. The solution, which is the extension of the classical D’Alembert formula, is represented by a single equivalent propagating wave. A component of the solution, denoted by “end waves”, is identified to provide the continuity of the systems displacement response.     

Effect of the deformation in the inertia forces on the inverse dynamics of planar flexible mechanical systems

The inverse dynamics problem for articulated structural systems such as robotic manipulators is the problem of the determination of the joint actuator forces and motor torques such that the system components follow specified motion trajectories. In many of the previous investigations, the open loop control law was established using an inverse dynamics procedure in which the centrifugal and Coriolis inertia forces are linearized such that these forces in the flexible model are the same as those in the rigid body model. In some other investigations, the effect of the nonlinear centrifugal and Coriolis forces is neglected in the analysis and control system design of articulated structural systems. It is the objective of this investigation to study the effect of the linearization of the centrifugal and Coriolis forces on the nonlinear dynamics of constrained flexible mechanical systems. The virtual work of the inertia forces is used to define the complete nonlinear centrifugal and Coriolis force model. This nonlinear model that depends on the rate of the finite rotation and the elastic deformation of the deformable bodies is used to obtain the solution of the inverse dynamics problem, thus defining the joint torques that produce the desired motion trajectories. The effect of the linearization of the mass matrix as well as the centrifugal and Coriolis forces on the obtained feedforward control law is examined numerically. The results presented in this investigation are obtained using a slider crank mechanism with a flexible connecting rod.     

柔性多体系统的计算策略

对柔性多体系统计算建模的研究现状和近期进展进行了总结. 重点讨论了柔性多体 动力学的以下内容: 柔性构件的建模, 约束建模, 求解技术, 控制策略, 耦合问 题, 设计和实验的研究. 对柔性多体系统建模的浮动坐标系,转动坐标系和惯性系 等3种坐标系的特点进行了对比. 指出了未来的研究方向, 包括柔性多体系统的新 的应用,如微观力学系统和超微观力学系统等; 提高这些模型的计算精度和效率的 技巧和策略; 以及可以用于改善柔性多体系统的工具. 本综述文章引用了877篇参 考文献.     

接触碰撞动力学的多变量选取方法

在柔性多体的接触碰撞动力学问题中,多变量方法基于附加约束的接触模型,将柔性体的变形用不同变量来描述：接触局部区域的变形用有限元节点坐标描述,非接触局部区域的变形用模态坐标描述,兼顾了计算精度和效率. 将该方法推广到三维空间碰撞问题,对两柔性杆纵向碰撞过程进行动力学仿真,数值结果与实验结果吻合良好,验证了该方法的有效性. 针对柔性体各自区域的变量如何选取的问题,研究了节点取法、模态阶数以及材料参数对计算结果精度的影响,寻找到合理的多变量选取方法,保证精度的同时使自由度得到最大程度的缩减.