含有分叉的受控多体系统传递矩阵法

THE TRANSFER MATRIX METHOD OF CONTROLLED MULTIBODY SYSTEM WITH BRANCH

多体系统传递矩阵法是解决受控多体系统动力学问题的有效方法,针对含有分叉的受控多体系统动力学问题,分别建立了控制激励元件、控制反馈元件及其含有分叉的受控多体系统总体传递矩阵.实例计算了无控和受控多体系统的运动响应与牛顿欧拉方法比较,计算表明了受控多体系统传递矩阵法解决分叉控制系统运动的有效性.

The transfer matrices method of multibody system is effective methods which solve the dynamics problem of controlled multibody system. The transfer matrices of control actuator element, control feedback element, other elements and overall transfer matrices of the controlled multibody system were developed to deal with the controlled multibody system with branch. The motion of the controlled multibody system with branch was computed by controlled multibody system transfer matrix method and Newton - Euler method. The computation show that the results obtained by controlled multibody system transfer matrix method is effective.