柔性多体系统混合递推动力学建模及实时仿真研究

中国机械工程 ›› 2010, Vol. 21 ›› Issue (1): 6-12.

柔性多体系统混合递推动力学建模及实时仿真研究

田富洋1;吴洪涛1;赵大旭1;邵兵1;王超群2;朱剑英1

1.南京航空航天大学，南京，210016

2.南京农业大学，南京，210095

出版日期:2010-01-10 发布日期:2010-01-22
基金资助:
国防科工委“十一五”预研基金资助项目(C4220062501)；国家自然科学基金资助项目(50375071)
National Defense Pre-research Foundation of General Armament Department（No. C4220062501）;
National Natural Science Foundation of China（No. 50375071）

Hybrid Dynamics of Flexible Multibody System and Real Time Simulation

Tian Fuyang1;Wu Hongtao1;Zhao Daxu1;Shao Bing1;Wang Chaoqun2;Zhu Jianying1

1.Nanjing University of Aeronautics and Astronautics,Najing, 210016

2.Nanjing Agricultural University,Nanjing,210095

Online:2010-01-10 Published:2010-01-22
Supported by:

National Defense Pre-research Foundation of General Armament Department（No. C4220062501）;
National Natural Science Foundation of China（No. 50375071）

摘要/Abstract

关键词:

空间算子, 柔性多体系统, 混合递推, 微分－代数方程, 实时仿真

Abstract:

The hybrid recursive dynamics based on the spatial operator algebra theory and real time simulation of a generalized flexible multibody was presented herein. The generalized flexible multibody was described according to the type of the joints (active or passive); then the generalized articulated inertia-matrix, the residual forces and the generalized acceleration and torque were computed through twice tip-to-base recursive and once base-to-tip recursive; at last the O(N) hybrid dynamics was gained. Next real time solver for the large differential-algebra equation was studied based on the linear multi-step method. Simulation results show that the dynamics modeling and fast integration techniques proposed here are very useful.

Key words: spatial operator;flexible multibody system;hybrid recursive, differential-algebra equation, real time simulation

中图分类号:

田富洋, 吴洪涛, 赵大旭, 邵兵, 王超群, 朱剑英.

柔性多体系统混合递推动力学建模及实时仿真研究

[J]. 中国机械工程, 2010, 21(1): 6-12.

TIAN Fu-Xiang, TUN Hong-Chao, DIAO Da-Xu, SHAO Bing, WANG Chao-Qun, SHU Jian-Yang.

Hybrid Dynamics of Flexible Multibody System and Real Time Simulation

[J]. China Mechanical Engineering, 2010, 21(1): 6-12.

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