刚柔耦合多体系统动力学建模和仿真

【作者】 余纪邦；

【导师】 章定国；

【作者基本信息】 南京理工大学 ， 工程力学， 2005， 硕士

【摘要】 本文对刚柔耦合多体系统动力学的建模理论和仿真进行了研究。 刚柔耦合多体系统是一个典型的多柔体系统,其动力学问题与一般的多刚体系统动力学有着本质的差别,表现为大位移刚性运动和小变形运动之间的强烈耦合。Kane研究了作大范围运动的弹性梁模型,首次提出动力刚化的概念,揭示了柔性梁的纵横向振动的耦合所引起的耦合变形项是产生动力刚化现象的本质原因。 本文根据多柔体系统动力学理论,创新地提出了考虑动力刚化效应的中心刚体作任意三维大位移运动时柔性悬臂粱作横向和纵向振动的建模方法和刚柔耦合多体系统动力学建模的子系统法。本文所提供的把复杂系统离散成简单系统,再由现存的简单系统的动力学模型组合成整个系统的动力学模型的方法,能避免使用同一种动力学原理进行动力学方程推导时的冗繁,具有建模效率高,系统方程耦合度低等优点。新编制的动力学数值仿真软件具有很高的精度和很强的通用性,通过对实例进行仿真计算并分析其动力学特性,得出有效的结论。更多还原

【Abstract】 The dynamics modeling theory and simulation of rigid-flexible coupling system is studied in this dissertation.The rigid-flexible coupling system is a typical multi-body system. Its dynamic problems are quite different from the dynamic problems of a multi-rigidbody system, in which the complexity is shown as the coupling system between the large overall rigid motion and the small elastic deformation. Kane studied the elastic beam model with large overall motion and introduced the concept of Dynamic Stiffening. The coupling deformation term, which is produced by the couple of deformation in lognitudinal and in transverse direction, is the key of Dynamic Stiffening.Based on the theories of multi-body systems, this dissertation presented a novel dynamic model for a flexible cantilever beam attached to a moving central rigid-body undergoing an arbitrarily three-dimensional large overall motion with dynamic stiffening and the subsystem method for dynamics of a rigid-flexible coupling system. The approach reported in this paper divides a complex system into several simple subsystems firstly and then obtains the dynamic model for the whole system via combining the existing dynamic models for simple subsystems, which can avoid the complexity of modeling and make the modeling procedure more efficient and the coupling degrees of dynamic equations lower than that of traditional methods. The newly coded software is significant in precision and generality, by which conclusions are drawn from simulation examples.更多还原