| 求解非定常非完整约束多体系统动力学的一种方法 |
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| 引用本文： | 水小平,张永发.求解非定常非完整约束多体系统动力学的一种方法[J].应用数学和力学,1996,17(6):551-557. |
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| 作者姓名： | 水小平 张永发 |
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| 作者单位： | 北京理工大学应用力学系, 北京100081 |
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| 摘 要： | 通过对约束矩阵进行奇异值分解,将系统的动力学方程沿与约束相容和不相容的两个方向上投影,求解受非定常非完整约束的多体系统动力学问题,并给出了求约束反力的公式和避免违约的一种方法;这种解法不仅不依赖于描述系统的坐标选择,而且计算效率高。最后举了一个说明性例子。
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| 关 键 词： | 动力学 多体系统 非完整约束 非定常约束 奇异值分解 投影 |
| 收稿时间： | 1995-03-24 |
A Method for Solving the Dynamics of Multibody Systems With Rheonomic and Nonholonomic Constraints |
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| Shui Xiaoping, Zhang Yongfa.A Method for Solving the Dynamics of Multibody Systems With Rheonomic and Nonholonomic Constraints[J].Applied Mathematics and Mechanics,1996,17(6):551-557. |
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| Authors: | Shui Xiaoping Zhang Yongfa |
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| Institution: | Department of Applied Mechanics, Beijing Institute of Technology, Beijing 100081, P. R. China |
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| Abstract: | The solution of the dynamic problem of multibody systems subject to rheonomic and nonholonomic constraints is achieved by applying singular value decomposition of the constraint matrix and projections of the dynamic equations of the systems along the feasible and unfeasible directions of the constraints. Formula to solve the constraint reaction forces and a method to avoid the violation of the constraints are also given. The solution does not rely on coordinates used to describe the systems and is computationally efficient. One illustrative example is finally presented. |
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| Keywords: | dynamic multibody system nonholonomic constraint rheonomic constraint singular value decomposition projection |
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