人体落地冲击力冲量的分析和计算

本根据人体落地受伤是受冲击力的大小、冲击作用时间长短以及冲击力矩(如扭伤)等因素所致的事实出发，将人体着地瞬间看作撞击过程，以冲击力的冲量和冲量矩作为人体和各关节所承受的冲击作用的度量．利用多刚体系统动力学理论及计算方法给出了计算总撞击冲量及关节内冲量、冲量矩的算法；编制了相应的计算程序．以垂直落地为例所作的计算与已有结果一致．     

高速碰撞数值计算中的SPH自适应粒子分布法

针对传统光滑粒子法在计算高速碰撞问题时会出现近邻粒子逸出核函数影响域而产生数值破坏这一缺陷,提出了一种根据粒子间距变化自动添加、合并粒子的SPH自适应粒子分布算法。采用该方法对Taylor碰撞和超高速碰撞问题进行了数值模拟,结果表明,该方法可以有效地消除计算中出现的数值破坏,提高计算精度。     

非光滑多体系统动力学数值算法的研究进展

非光滑多体系统动力学数值计算方法是多体系统动力学研究的重要内容之一. 本文介绍了近年来含摩擦与碰撞的非光滑多体系统动力学数值算法方面的研究进展. 首先, 讨论了库仑摩擦模型和修正的库仑摩擦模型, 以及具有单边和双边约束的多体系统中法向约束力的特点. 其次, 回顾了基于连续模型和非连续模型的多体系统动力学方程的数值计算方法, 详细介绍了基于互补概念的非光滑多体系统动力学的事件驱动法和时间步进法, 分析比较了相关的数值算法. 最后, 指出了一些需要进一步研究的问题.     

多体系统动力学碰撞问题研究综述

对近年来多体系统碰撞动力学研究进展进行了评述,包括碰撞动力学建模理论、数值算法和实验方面的进展情况.根据各自不同假设条件将建模方法分为冲量动量法、连续碰撞力模型和基于连续介质力学的有限元方法,比较了各种建模方法在碰撞过程描述和数值性态方面的优势和局限性;对碰撞动力学实验在非接触式测量方面取得的最新进展进行了介绍,总结了实验对以上建模理论的验证研究,展示了实验研究方面的一些新发现.最后基于工程实际的需求提出多体系统碰撞动力学面临的新挑战.      

具有摩擦的刚体碰撞

刚体碰撞是力学上的一个经典问题，但目前大都采用给定恢复系数进行分析的方法，本文则直接从两刚体碰撞时Newton第二定律出发，建立了计及摩擦的两刚体碰撞基本理论，并指出了以往研究通过给定恢复系数方法的错误之处。文中通过利用两刚体接触相对变位加速度与碰撞力的关系，定义了法向等效质量，对二维平面碰撞，通过一些简单的比较和定义给出了各种碰撞状态的分类判别法，并给出了碰撞力和冲量的解析式。指出法向等效质量依赖于碰撞状态，在反向滑动和停止滑动这两状态下的法向等效质量是变化的，因此导致其恢复系数是变化的，这样，恢复系数不仅与接触力(接触点情况)有关，而且还与两刚体的运动和动力参数有关，同时给出各种碰撞状态下的恢复系数计算式。     

多体系统接触碰撞问题的牛顿-欧拉线性互补方法

基于非光滑动力学方法的多体系统接触碰撞分析是目前多体系统动力学的研究热点.本文采用牛顿-欧拉方法建立多体系统接触、碰撞问题的动力学模型,给出一种牛顿-欧拉型线性互补公式.该建模方法与目前一般采用的拉格朗日建模方法的不同之处是约束条件中除了库仑摩擦、单边约束之外还含有光滑等式约束.在建立系统动力学模型时,首先解除摩擦约束和单边约束得到原系统对应的基本系统.牛顿-欧拉方法采用最大数目坐标建立基本系统的动力学方程,由于坐标不相互独立,因此基本系统中带有等式约束,其数学模型为一组微分代数方程.借助约束雅可比矩阵,在基本系统微分代数方程中添加摩擦接触和单边约束对应的拉氏乘子,就可以得到系统全局运动的具有变拓扑结构特征的动力学方程,再结合非光滑约束互补条件便可构成完备的系统动力学模型.完备的动力学模型由动力学微分方程以及等式约束和不等式约束组成.线性互补公式采用分块矩阵形式进行推导,简化了推导过程.数值计算采用基于线性互补的时间步进算法.时间步进算法是目前流行的非光滑数值算法,其突出特点是可以免去数值积分中繁琐的事件检测过程,而数值积分过程中通过对线性互补问题的求解可以确定系统的触-离状态.通过对典型的曲柄滑块间隙机构进行数值分析,验证本文方法的有效性.     

点弹性碰撞问题之解析解

把处于碰撞状态下之碰撞体与靶体看作是一个振动体系，于是可把弹性碰撞问题转化成该体系在部分体系（碰撞体）具有初始扰动速度下的振动响应问题而纳入常规的振动分析范畴．典型示例表明用这种对策可以方便地得到与波动解完全相同的结果．     

压电压磁圆柱壳的自由振动分析

本文基于三维弹性理论，结合状态空间理论和离散奇异卷积算法分析了压电压磁圆柱壳的自由振动问题．圆柱壳的厚度方向被作为状态空间理论的传递方向，同时应用离散奇异卷积算法对面内域进行离散．因此，初始的偏微分运动方程被转化为由一阶常微分方程构成的状态方程．离散奇异卷积算法的引入使得本方法可以处理不同边界条件，从而扩展了常规状态空间方法的应用范围．本文对数值算例的计算验证了此方法的有效性和精确度．     

柔性梁斜碰撞问题的非线性动力学建模和实验研究

本文研究柔性梁点面斜碰撞问题。用Hertz接触模型处理法向撞击力,分别用Hertz切向接触模型和Coulomb摩擦力模型处理粘滞状态和滑动状态的摩擦力。从精确的应变与位移的关系出发,用绝对节点坐标法建立了柔性梁的动力学方程。为了准确地处理斜碰撞切向运动的复杂状态,提出滑动-粘滞切换的准则,在此基础上,设计了斜碰撞实验,数值对比了法向撞击力和法向速度的时间历程的仿真计算结果与实验结果,验证了Hertz理论在斜碰撞情况下的正确性。另一方面切向速度的实验与理论的结果对照表明滑动-粘滞切换准则的有效性。     

振动机械起动过程中的迟滞共振原因分析

振动机械在起动过程中，有时会出现一种特殊的共振现象─—迟滞共振．本文通过解析分析和数值算法解释了产生该现象的原因．     

Experimental study on dynamics of an oblique-impact vibrating system of two degrees of freedom

The paper presents a detailed experimental study of an oblique-impact vibration system of two degrees of freedom. The primary objective of the study is to verify the hypothesis of instantaneous impact in the oblique-impact process of two elastic bodies such that the incremental impulse method works for computing the nonlinear dynamics of the oblique-impact vibrating systems. The experimental setup designed for the objective consists of a harmonically excited oscillator and a pendulum, which obliquely impacts the oscillator. In the study, the dynamic equation of the experimental setup was established first, and then the system dynamics was numerically simulated by virtue of the incremental impulse method. Afterwards, rich dynamic phenomena, such as the periodic vibro-impacts, chaotic vibro-impacts and typical bifurcations, were observed in a series of experiments. The comparison between the experimental results and the numerical simulations indicates that the incremental impulse method is reasonable and successful to describe the dynamics during an oblique-impact process of two elastic bodies. The study also shows the limitation of the hypothesis of instantaneous impact in an oblique-impact process. That is, the hypothesis only holds true in the case when the impact angle is not too large and the relative approaching velocity in the normal direction is not too low. Furthermore, the paper gives the analysis of the tangential rigid-body slip on the contact surface in the case of a large impact angle, and explains why there exist some discrepancies between the numerical simulations and the experimental results.     

Oblique Frictional Impact of a Bar: Analysis and Comparison of Different Impact Laws

In this paper a basic, easily to multi-contact problems extendable, non-smooth approach is applied to analyze a bar striking an inelastic half-space. Coulomb contact is assumed and modeled by using set-valued Newtonian impact laws in normal as well as in tangential direction. The resulting linear complementarity problem contains all possible impact states and provides an instantaneous collision operator that respects all inequality constraints. This operator depends on the orientation of the bar and determines uniquely the post-impact velocities as functions of the pre-impact state. Different types of solutions may occur, including “stick’’ and “slip’’. In this context, stick and slip have to be understood as the two cases characterized by the tangential impulsive force as an element of either the set-valued or of the single-valued domain of the friction law. Depending on the choice of parameters, sign reversal of the tangential contact velocity is possible. For certain inertia properties and initial conditions, the collision operator yields an impact, even for initially vanishing normal contact velocity. This phenomenon is well known as the Painlevé paradox. The results obtained by this fully non-smooth rigid body approach are compared with those of other impact models, such as a lumped mass model with compliance elements, and a collision operator used for particle interactions in flows.AMR: 160A, 160B, 160Y, 292B, 292Y     

考虑粗糙结合面弹塑性接触的黏滑摩擦建模

提出一种同时考虑粗糙面上微凸体弹性变形和塑性接触的切向黏滑摩擦建模方法。采用Hertz弹性理论和Mindlin解描述弹性接触微凸体的切向载荷和相对变形的关系;采用AF(Abbott-Firstone)塑性理论和Fujimoto模型描述塑性接触微凸体切向载荷和相对变形的关系。再利用GW(Greenwood-Williamson)模型统计分析方法建立粗糙表面切向载荷和相对变形之间的关系。将模型与仅考虑微凸体弹性接触情况的模型进行对比,并研究了不同塑性指数对切向载荷和相对变形关系的影响。结果表明：与完全弹性接触模型相比,本文模型引入了塑性接触理论,能够更好地描述粗糙表面切向载荷和相对变形关系,并且考虑不同接触条件下弹性变形微凸体和塑性变形微凸体对切向接触载荷的贡献,在微滑移阶段,主要由弹性接触变形影响,而在进入宏观滑移阶段之后,切向行为主要由塑性变形影响。界面切向载荷由黏着和滑移接触作用共同决定,随着切向变形的增加,滑移接触力逐渐增加,而黏着接触力先增加后减少,反映了界面由微滑移逐渐向宏滑移演化的过程。随着塑性指数的增加,粗糙面上发生塑性接触的微凸体数目逐渐增加,切向黏滑行为主要受到塑性接触特征的控制。     

刚性椭球对固定面的三维摩擦碰撞

讨论刚性椭球对固定面的三维摩擦碰撞．以法向冲量为自变量，建立碰撞过程中接触点切向速度的微分方程．利用相平面的奇点理论对碰撞过程中切向滑动的全局性态作定性分析，并导出切向滑动的解析积分．     

结构碰撞的动力响应分析

本文研究结构在动力作用下发生碰撞时的动力响应的分析方法。其中碰撞包括结构与刚（弹）性支座的碰撞和两个结构物之间的碰撞；碰撞的速度假定为中低速度，分析时不考虑局部的破坏问题。本文方法的关键点是提出了碰撞过程中的碰撞反力的模拟表达式。它是通过碰撞时结构与碰撞物体的碰撞力和碰撞变形关系的假定，并利用能量守恒原理，动量守恒原理和冲量定理建立的，既可描述完全弹性碰撞过程也可描述非完全弹性碰撞过程，当然也可考虑结构阻尼的影响。文末给出了几个算例，其中与有解析解的做了比较，符合得很好；至于没有解析解可比较的，在理论上也是合理的，算法上采用了中央差分的逐步积分法，在碰撞过程中采用非常小的积分步长，获得了预想的理想结果。     

Impact dynamics analysis of free-floating space manipulator capturingsatellite on orbit and robust adaptive compound controlalgorithm design for suppressing motion

The impact dynamics, impact effect, and post-impact unstable motion sup- pression of free-floating space manipulator capturing a satellite on orbit are analyzed. Firstly, the dynamics equation of free-floating space manipulator is derived using the sec- ond Lagrangian equation. Combining the momentum conservation principle, the impact dynamics and effect between the space manipulator end-effector and satellite of the cap- ture process are analyzed with the momentum impulse method. Focusing on the unstable motion of space manipulator due to the above impact effect, a robust adaptive compound control algorithm is designed to suppress the above unstable motion. There is no need to control the free-floating base position to save the jet fuel. Finally, the simulation is proposed to show the impact effect and verify the validity of the control algorithm.     

空间机械臂捕获卫星过程的碰撞动力学模拟及镇定运动的鲁棒控制

讨论了漂浮基空间机械臂捕获未知运动目标卫星的接触碰撞动力学建模和接触碰撞后系统镇定运动的控制问题。利用第二类拉格朗日方法和牛顿-欧拉法分别建立了接触碰撞前漂浮基空间机械臂和目标卫星两分体系统的动力学模型;以此为基础借助于空间机械臂与目标卫星接触点间的运动几何关系、力传递关系,计算了接触碰撞所产生的影响效应;捕获卫星后,联立空间机械臂与卫星接触碰撞前的动力学模型,建立了接触碰撞后两系统组合体动力学模型;并设计了增广鲁棒控制算法,以对受碰撞冲击后处于不稳定的组合体系统进行镇定运动控制。上述控制方法能应用于空间机械臂载体位置不受控情况,并能使组合体系统控制方程关于卫星不确定参数呈线性化关系。最后,利用数值仿真模拟捕获过程系统运动状态,验证了上述鲁棒控制镇定运动的效果。     

固定接触界面切向静弹性刚度问题研究

根据两球体单峰同时受法向、切向载荷时微滑切向应力的分布以及MB模型,给出了界面的总切向接触静弹性条件刚度、总条件法向载荷的解析解。将切向接触静弹性条件刚度的解析解嵌入到有限元软件中,获得了整机的理论模态。以一款八四七厂华中工学院XHK5140型自动换刀计算机数控立式镗铣床上的结合部为研究对象,通过实验对解析解进行了定量验证。研究结果表明：在理论振型与实验振型一致的条件下,界面模型的相对误差在-19．2％～16．8％之间。     

Contact stresses: a short survey of models and methods of computations

Contact stresses are identified as normal and tangential forces between contacting solids. The normal stresses are modeled using unilateral and complementary conditions, elastic response and normal compliance. Friction laws describe the tangential traction. Friction of materials depends on pressure, sliding velocity, surface temperature, time of contact, surface roughness and presence of wear debris. Phenomenological, micro-mechanical and atomic-scale models as well as non-classical models of anisotropic and heterogeneous friction are important steps in the development of friction modeling. Sophisticated friction models are desirable in vibrating systems, materials processing, rolling contacts, rubber and polymers, geomechanics, bioengineering and living systems. Main numerical methods in contact mechanics are: finite element method, boundary element method and discrete element method. To include specific contact constraints, the following computing techniques are applied: Lagrange multipliers, penalty function, perturbated and augmented Lagrangian methods, mathematical programming methods. The advances of adhesion and impact modeling are outlined in this paper.     

Sliding state stepping algorithm for solving impact problems of multi-rigid-body system with joint friction

Impact dynamics of multi-rigid-body systems with joint friction is considered. Based on the traditional approximate assumption dealing with impact problem,a general numerical method called the sliding state stepping algorithm is introduced.This method can avoid difficulties in solving differential equations with variable scale and its result can avoid energy inconsistency before and after impact from considering complexily of tangential sliding mode.An example is given to describe details using this algorithm.