【摘要】 用多刚体_球铰模型对大垂度柔索进行离散化建模 ,利用多刚体系统动力学理论建立了该模型的动力学方程·　采用矩阵广义逆理论对其位移和速度进行修正 ,以消除该微分_代数方程在数值分析中的违约现象·　数值仿真证明了该方法的正确性·更多还原

【Abstract】 Discrete model of flexible cable with large sag is established by using multiple rigid body_spherical hinge model, and dynamic equation of that discrete model is derived according to dynamics theory of multiple rigid body system. Displacement and velocity of system are revised to eliminate violation phenomenon of the differential_algebra equation in numerical simulation based on the theory of generalized inverse of matrices. Numerical simulation proves the validity of our method.更多还原