微分-代数型动力学模型的符号线性化方法

SYMBOLIC LINEARIZATION OF NONLINEAR COUPLED DIFFERENTIAL AND ALGEBRAIC DYNAMIC EQUATIONS

通过对复杂机械系统的微分代数型动力学方程各种线性化方法的比较，提出一种建立复杂机械系统线性动力学方程的符号化方法，它克服了数值摄动方法的缺点，不需另外建立线性约束库，程式化强，最后利用此方法对铁道车辆蛇行运动稳定性进行了分析．

This paper presents a symbolic approach for linearization of differential and algebraic dynamic equations. This technique avoids the drawbacks of the numerical perturbation method and eliminates the need to set up thelinearized constraints library. Several examples have been used tovalidate the procedure. Included is the stability analysis of six DOFrailway car model.