【摘要】 为提高多能域耦合空间多体动力系统建模与仿真的效率及可靠性,提出了回转键合图法。阐述了建立空间多体系统键合图模型的一般方法及其动力学原理。基于回转键合图推导出便于计算机自动生成的系统状态方程及运动副约束反力方程的统一公式,克服了微分因果关系及非线性结型结构给系统自动建模与仿真所带来的代数困难。所述方法特别适合于多能域并存的系统,通过实例说明本文方法的有效性。更多还原

【Abstract】 In order to increase the efficiency and reliability of modeling and simulation for spatial multibody dynamic systems with the coupling of multi-energy domains,a method based on gyrobondgraph is introduced.The method of modeling spatial multibody systems by bond graphs and its dynamic principle are described.The unified formulae of system state space equations and constraint forces at joints are derived based on gyrobondgraph,they are easily generated on a computer.As a result,the algebraic difficulty brought up by nonlinear junction structure and differential causality in automatic modelling and simulation can be solved.This method is very suitable for the systems containing multi-energy domains,its validity is illustrated by a practical example.更多还原