【摘要】 针对多体系统动力学非线性微分—代数方程模型,在时间域上设计微分求积法((DQ,differential quadrature method),得到以时间域中各时间节点处未知函数值的非线性代数方程组,利用牛顿迭代法求解各时间节点处的函数值,从而得到满足精度需求的数值仿真结果。以平面双连杆机械臂模型为例进行实验,结果表明,与经典Runge-Kutta法比较,该方法具有公式推导简单、精度高、编程易实现等优点,适用于多体系统动力学仿真。更多还原

【Abstract】 For the nonlinear differential-algebraic equations of multibody system,using the differential quadrature method in time domain to obtain the unknown function values at each time node about nonlinear differential-algebraic.Newton iteration method is used to get the function values of each time node so that the numerical simulation results are obtained.Finally,the two-link manipulator is used as an example to verify the method presented,the results show that differential quadrature method has the advantages of more simple derivation,higher precision and easier programming than Runge-Kutta method,and is suitable to the simulation in multibody system dynamics.更多还原