非理想多刚体系统动力学与线性互补性问题

Dynamics of Non-ideal Multi-rigid-body Systems and LCP

通过结合线性\非线性的互补条件(LCP\NCP)来描述多体系统动力学的非光滑特性具有独到的优点。对于单边约束的多体系统,可以根据其单边特性,将该系统描述为微分代数方程组(DAE)与互补条件(CP)结合的混合框架,但用该方法处理含摩擦的双面约束系统时,双面约束的CP表示方法是个难点。本文通过引入新的参数,将含摩擦的双面约束系统同LCP问题联系起来研究,同时讨论了该系统中可能产生的奇异性问题。

There are special advantages over traditional methods existed in describing the non-smooth features of multi-body system dynamics by combining with linear/nonlinear complementary problems （LCP/NCP）. Far multibody systems with unilateral constraints, due to their unilateral features, the systems can be formulated into mixed framework combining the differential algebra equations （DAE） with complementary problems （CP）. But for the bilateral constraint systems with friction, the method for representing the CP of bilateral constraints is a difficult point. We combine the frictional;bilateral constraint systems with LCP by introducing new parameters in a general way, and the singularity probably induced in the sysrem is also discussed.