复杂柔性多体系统耦合动力学的键合图法

Bond Graph Method to Investigate Coupling Dynamics of Complex Flexible Multi-body System

为提高多能域耦合复杂平面连杆机构系统动力学分析的效率及可靠性,提出了键合图法.阐述了非惯性系下综合考虑刚、弹性及多能域相互耦合的平面柔性多体系统键合图模型的建立方法,推导出便于计算机自动生成的完整形式的系统状态方程及运动副约束反力方程的统一公式.将约束反力视做未知势源加在系统键合图相应的0-结处,克服了微分因果关系及非线性结型结构所带来的难以解决的代数问题,实现了计算机自动建模及仿真.最后通过实际算例验证了所述方法的有效性.

In order to improve the efficiency and reliability of the dynamics analysis for the complex planar linkage containing the coupling of multiple energy domains, a method named bond graph is introduced. The general procedure to establish the bond graph model considering the coupling of the rigidity, the flexibility and multiple energy domains in a non-inertial coordinate system is then proposed. The unified expressions for the state-space equations of the system and the constraint forces at the joints, which can be easily auto-generated by a computer, are also deduced. The constraint forces at the joints can be loaded on the corresponding O-junctions in the bond graph model as an unknown effort source. As a result, the difficult algebraic problem resulting from the nonlinear junction structure and the differential causality is solved, and the automatic modeling and simulation by a computer are realized. Through a practical example, the validity of the proposed bond graph method is finally verified.