摘要
针对受完整约束的多体系统动力学微分／代数方程数学模型动态最优化设计问题,建立了通用的目标函数和约束方程,并以此为基础,用直接微分方法系统地推导出了计算设计灵敏度的通用公式,最后通过平面机械臂模型对理论结果和相应算法进行了验证.
The direct differentiation method is used for design sensitivity analysis of multibody system dynamics described by differential/algebraic equations with holo nomic constraints. The results can be used to optimize multibody system dynamics with generic objective functions and constraints. An example of a planar manipulator with two links is analyzed to test the method given in the current paper.
出处
《力学与实践》
CSCD
北大核心
2005年第1期60-63,共4页
Mechanics in Engineering
基金
国家自然科学基金项目(19902006)资助.
