摘要
多体系统多点接触碰撞问题可以归结为一个将系统的动力学方程与并协性约束方程相结合的问题.针对这样一个含并协性条件的混合方程组,建立了基于 LCP 格式的包含碰撞/接触问题的多刚体系统动力学分析框架,提出了一种基于步长评价准则的变时间步长的数值求解策略,实现了无摩擦情况下多刚体系统多点接触碰撞问题的数值算法.最后给出了数值算例,验证了算法的有效性.
The problem for the multi-rigid-body contact/impact system can be generalized,into a mathematical model,which combines an ordinary differential equation in time with an instantaneous complementarity condition.This paper developed a variable implicit time-stepping scheme for the simulation of the multi-rigid-body contact/impact system with frictionless based on the linear complementarity formulations.A numerical example was provided and the effectiveness of the algorithm for the numerical simulation of such problems was demonstrated.
出处
《动力学与控制学报》
2003年第1期59-65,共7页
Journal of Dynamics and Control
基金
国家自然科学基金(10272002)
教育部博士点基金(2002001032).~~
