【摘要】 基于一般性的积分型目标函数、隐式相容初始条件及终止时刻表达式,系统建立了含设计参数的用隐式微分/代数方程表达的多体系统动力学设计灵敏度分析的直接微分方法和伴随变量方法,为降低目标函数及其对设计变量导数的计算复杂性,将其积分形式的计算转化为微分形式.所得到的结果可方便地应用于高效的间接最优化设计方法.最后通过采用绝对坐标建模的平面两连杆机械臂模型对该方法进行了验证.更多还原

【Abstract】 The direct differentiation method and adjoint variable method for dynamics of multibody systems were presented, based on the generic formulation of implicit differential/algebraic equations with implicit initial conditions and generic end time conditions. The computation of the objective functions and their derivatives ware another contributions of this paper, which transformed the integral type of objective functions to integration ones in order to improve computational efficiency. Finally the method was verified by a numerical example of a planar manipulator with two links.更多还原