【摘要】 进一步发展了空间算子代数理论体系,采用空间算子描述了广义柔性多体系统动力学高效率建模以及实时仿真问题。根据不同类型的铰链特征(主动关节、被动关节)描述了广义柔性多体系统特征,按照两次从系统顶端到基座和一次从基座到顶端的顺序分别计算系统的广义铰接体惯量算子、系统的冗余力算子以及广义加速度和广义主动力矩,进而建立广义柔性系统O(N)阶动力学模型。采用线性多步积分算法理论解决了大型微分代数方程的数值积分算法,实现了实时动力学仿真的目的。最后通过实例结果对比验证了研究内容的正确性和高效性。更多还原

【Abstract】 The hybrid recursive dynamics based on the spatial operator algebra theory and real time simulation of a generalized flexible multibody was presented herein. The generalized flexible multibody was described according to the type of the joints (active or passive); then the generalized articulated inertia-matrix, the residual forces and the generalized acceleration and torque were computed through twice tip-to-base recursive and once base-to-tip recursive; at last the O(N) hybrid dynamics was gained. Next real time solver for the large differential-algebra equation was studied based on the linear multi-step method. Simulation results show that the dynamics modeling and fast integration techniques proposed here are very useful.更多还原