摘要
为提高多能域耦合空间多体动力系统建模与仿真的效率及可靠性,提出了回转键合图法。阐述了建立空间多体系统键合图模型的一般方法及其动力学原理。基于回转键合图推导出便于计算机自动生成的系统状态方程及运动副约束反力方程的统一公式,克服了微分因果关系及非线性结型结构给系统自动建模与仿真所带来的代数困难。所述方法特别适合于多能域并存的系统,通过实例说明本文方法的有效性。
In order to increase the efficiency and reliability of modeling and simulation for spatial muhibody dynamic systems with the coupling of multi-energy domains, a method based on gyrobondgraph is introduced. The method of modeling spatial muhibody systems by bond graphs and its dynamic principle are described. The unified formulae of system state space equations and constraint forces at joints are derived based on gyrobondgraph, they are easily genera- ted on a computer. As a result, the algebraic difficulty brought up by nonlinear junction structure and differential cau- sality in automatic modelling and simulation can be solved . This method is very suitable for the systems containing muhienergy, domains, its validity is illustrated by a practical example.
出处
《机械设计与研究》
CSCD
北大核心
2009年第2期7-11,共5页
Machine Design And Research
基金
黑龙江省自然科学基金资助项目(E200523)
黑龙江省教育厅海外学人基金项目(1151hz020)
关键词
空间多体系统
建模与仿真
回转键合图
因果关系
非线性结型结构
spatial nmhibody system
modelling and simulation
gyrobondgraph
causality
nonlinear junctionstructure
