摘要
对一类含自由一自由弹性梁的多体系统动力学方程进行了研究，利用多体系统的结构特性和运动特性对其动力学方程进行了简化，使惯性质量矩阵为对角形，得到了惯性解耦的多体系统动力学方程，在方程的数值求解时，可提高计算速度和精度，为多体系统动力学的实时仿真提供方便．
A class of dynamical equations for multibody systems with free-free elastic beams are studied. The dynamical equations of inertia decoupled are developed by using of the property of structure and motion of the systems. In the equations. the inertial matrix is diagonal and the calculating speed and precision can be raised. It is easy to simulate dynamics of multibody systems in real-time.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
1995年第3期90-95,共6页
Journal of Beijing University of Aeronautics and Astronautics
基金
航空科学基金
关键词
多体问题
惯量解耦
动力学
实时仿真
many body problem
inertia
decoupling
dynamics
equations
real-timesimulation
