[1]刘树青,王兴松.基于零空间法的柔性多体系统动力学计算及仿真[J].东南大学学报(自然科学版),2010,40(6):1348-1352.[doi:10.3969/j.issn.1001-0505.2010.06.042]
 Liu Shuqing,Wang Xingsong.Dynamics calculation and simulation of flexible multi-body system based on null-space method[J].Journal of Southeast University (Natural Science Edition),2010,40(6):1348-1352.[doi:10.3969/j.issn.1001-0505.2010.06.042]
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基于零空间法的柔性多体系统动力学计算及仿真()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
40
期数:
2010年第6期
页码:
1348-1352
栏目:
自动化
出版日期:
2010-11-20

文章信息/Info

Title:
Dynamics calculation and simulation of flexible multi-body system based on null-space method
作者:
刘树青12 王兴松1
1 东南大学机械工程学院, 南京 211189; 2 南京工程学院先进制造技术工程中心, 南京 211167
Author(s):
Liu Shuqing12 Wang Xingsong1
1 School of Mechanical Engineering, Southeast University,Nanjing 211189, China
2 Advanced Manufacturing Technology and Engineering Center, Nanjing Institute of Technology, Nanjing 211167, China
关键词:
柔性多体系统动力学 自然坐标 零空间 剪式机构
Keywords:
dynamics of flexible multi-body system natural coordinates null-space scissor structure
分类号:
TP242
DOI:
10.3969/j.issn.1001-0505.2010.06.042
摘要:
为了实现柔性多体系统动力学的程式化建模及精确求解,利用自然坐标建立了柔性多体系统带拉格朗日乘子的动力学模型.将约束雅可比矩阵的正交补应用于该模型的处理过程中,通过零空间的正交基将模型转化为纯微分形式,并在时间域内进行离散,给出了数值解法和详细的仿真计算步骤,完成柔性重力摆的动力学建模与计算.仿真结果与运用传统方法所得的结果一致,验证了此建模及计算方法的正确性.针对在空间可展机构中广泛应用的柔性剪式机构,通过在Mathematica环境下编程,建立了动力学模型,并基于零空间法进行数值计算和仿真,得到柔性剪式机构在驱动力作用下的动力学响应曲线及横向振动引起的末端位置误差.
Abstract:
In order to realize the formulaic modeling and precise solution of a flexible multi-body system, a dynamic model with Lagrange multipliers is established by natural coordinates. The orthogonal complement of constraint Jacobian is used for dynamic analysis. The dynamic model is transformed into a system of ordinary differential equations by the orthogonal basis of the null-space. The discretion in time domain is obtained. The numerical method and the simulation steps are given in detail, and then the dynamic modeling and calculation of the flexible gravity pendulum is completed. The simulation results are consistent with the results obtained from the traditional method, which verifies the validity of the proposed method. The dynamic model of a flexible scissor structure, which is widely used in the space deployable mechanism, is established in the environment of Mathematica. The corresponding numerical calculation and simulation are carried out by the null-space method. The dynamic response curves and the position error due to the elastic vibration of the flexible scissor structure are presented.

参考文献/References:

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备注/Memo

备注/Memo:
作者简介: 刘树青(1973—),女,博士生,讲师,liushuqing@126.com.
基金项目: 国家自然科学基金资助项目(50875044).
引文格式: 刘树青,王兴松.基于零空间法的柔性多体系统动力学计算及仿真[J].东南大学学报:自然科学版,2010,40(6):1348-1352. [doi:10.3969/j.issn.1001-0505.2010.06.042]
更新日期/Last Update: 2010-11-20