基于旋量与模态分析理论的多柔体系统反向动力学仿真

刘芳华; 吴洪涛; 周波; 方喜峰

基于旋量与模态分析理论的多柔体系统反向动力学仿真

1.
南京航空航天大学, 南京 210016;
2.
江苏科技大学, 镇江 212003

基金项目:

国家自然科学基金项目(50375071)

国防“十一五”预研重点基金项目

江苏省数字化制造技术重点实验室基金项目(HGDML-0601)资助

详细信息

作者简介:
刘芳华(1972-)，副教授，博士后，研究方向为机器人学及智能机器，机械多体系统理论与应用和机电控制研究，cylfhua@163.com;吴洪涛(联系人)，教授，博士生导师，mehtwu@126.com

刘芳华(1972-)，副教授，博士后，研究方向为机器人学及智能机器，机械多体系统理论与应用和机电控制研究，cylfhua@163.com;吴洪涛(联系人)，教授，博士生导师，mehtwu@126.com

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出版历程
- 收稿日期: 2012-08-29
- 刊出日期: 2015-06-10

The Inverse Dynamics Simulation of Flexible Multibody System Based on Spatial Operator Algebra Theory

1.
Nanjing University of Aeronautics and Astronautics,Nanjing 210016;
2.
Jiangsu University of Science and Technology,Zhenjiang 212003

摘要

摘要: 基于旋量与模态分析理论基础上,对多柔体系统的质量矩阵、刚度矩阵、反向动力学等进行了研究,由于质量矩阵是动力学研究的核心,因此质量和刚度矩阵的递推算法,以及它们可逆性的存在是形成高效算法的关键。运用Mathematica6.0软件,实现了多柔体系统反向动力学的符号推导;运用VisualC++编程软件实现与Mathematic6.0软件无缝集成,对多柔体系统动力学仿真及反向动力学进行参数化分析与计算,给出了实施过程。通过对某小型卫星算例验证,并与ADAMS的仿真结果进行对比,表明了结果的正确性和高效性。
- 多柔体系统 /
- 反向动力学 /
- 刚度矩阵 /
- 递推算法 /
- 卫星
Abstract: The inverse dynamics of the flexible multibody system is studied based on the Spatial Operator Algebra theory,and the realization of the generalized mass procedure is built in the environment of Matahematic6. 0 software. The high effective stepping method can be used to compute forward and reward dynamics,and it is the important factor linking rotate force and rotating acceleration,and has a simple math expression and a clear physical meaning. The software structure of the generalized mass and inverse dynamics is built and the dynamics simulation model for flexible multibody system is realized based on the integrated procedure and Mathematic6. 0. According to the present analysis,the example of star generalized mass is studied,and correctness and validity is verified by computed examples.
- ABAQUS /
- algebra /
- acceleration /
- calculations /
- computer simulation

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参考文献(10)

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