| 双面约束多点摩擦多体系统的建模和数值方法 |
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| 引用本文： | 彭慧莲,王士敏,王琪,郭易圆.双面约束多点摩擦多体系统的建模和数值方法[J].力学学报,2009,41(1). |
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| 作者姓名： | 彭慧莲 王士敏 王琪 郭易圆 |
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| 作者单位： | 北京航空航天大学动力学与控制研究室,北京,100191 |
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| 基金项目： | 国家自然科学基金资助项目(10672007)~~ |
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| 摘 要： | 提出了一种建立具有固定双面约束多点摩擦的多体系统动力学方程的方法.用笛卡尔坐标阵描述系统的位形,根据局部方法的递推关系建立系统的约束方程,应用第一类Lagrange方程建市该系统的动力学方程,使得具有摩擦的约束面的法向力与Lagrange乘子一一对应,便于摩擦力的分析与计算,并用矩阵形式给出了摩擦力的广义力的一般表达式.应用增广法将微分-代数方程组转化为常微分方程组,并用分块矩阵的形式给出,以便于方程的编程与计算.给出了一种改进的试算法,可提高计算效率.最后给出了一个算例,应用试算法和RK法对算例进行了数值仿真.
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| 关 键 词： | 多体系统 双面约束 建模方法 干摩擦 Lagrange乘子 |
MODELING AND SIMULATION OF MULTI-BODY SYSTEMS WITH MULTI-FRICTION AND FIXED BILATERAL CONSTRAINT |
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| Peng Huilian
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Wang Shimin
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Wang Qi
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Guo Yiyuan.MODELING AND SIMULATION OF MULTI-BODY SYSTEMS WITH MULTI-FRICTION AND FIXED BILATERAL CONSTRAINT[J].chinese journal of theoretical and applied mechanics,2009,41(1). |
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| Authors: | Peng Huilian Wang Shimin Wang Qi Guo Yiyuan |
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| Institution: | Dynamics and Control Department;Beijing University of Aeronautics and Astronautics;Beijing 100191;China |
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| Abstract: | Modeling and simulating the dynamics of the multibody systems with bilateral constraints and dry friction are important in mechanical system and robotics.For smooth bilateral constraints,it is easy to solve the dynamical equations numerically.The dynamic equations of the multibody systems with the friction of constraint are the discontinuous differential-algebraic equations (DAE) and the equations cannot be expressed as being linear with respect to the generalized accelerations and the Lagrange multipliers ... |
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| Keywords: | multi-body system bilateral constraint modeling method dry friction Lagrange multiplier |
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