空间多体机械系统耦合动力学的键合图法

A BOND GRAPH METHOD FOR THE COUPLING DYNAMICS OF SPATIAL MULTIBODY MECHANICAL SYSTEMS

为提高多能域耦合空间多体系统动力学分析的效率及可靠性,提出了键合图法。从能量守恒的基本原理出发,讨论了键合图中的多通口元件MTF所具有的特性。以此为基础阐述了建立空间多体机械系统键合图模型的一般方法及其动力学原理。将运动副约束反力视做未知势源加在系统键合图模型相应的0-结处,有效地解决了微分因果关系及非线性结型结构所带来的十分困难的代数问题,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,实现了计算机自动建模与仿真。实际算例表明了所述方法的有效性。

In order to increase the efficiency and reliability of the dynamic analysis for spatial multibody mechanical systems containing the coupling of multi-energy domains, a method based on bond graph was introduced. From the viewpoint of energy conserving, the peculiar property of bond graph multiport element MTF was discussed. Based on this, the procedure of modeling spatial multibody mechanical systems by bond graphs and its dynamic principle were described. To overcome the algebraic difficulty brought by differential causality and nonlinear junction structure, the constraint forces at joints can be considered as unknown effort sources and added to the corre-sponding O-junctions of the system bond graph model. The unified formulae of system state space equations and constraint forces at joints were derived, which could be easily generated on a computer in a complete form. As a result, the automatic modeling and simulation on a computer were realized. The validity of the procedure was illustrated by a practical example.