基于增广拉格朗日方法的多柔体动力学研究

Flexible Multibody Dynamics Research Based on Augmented Lagrangian Method

采用绝对节点坐标方法研究了受非线性约束的大变形多柔体系统动力学问题。基于增广拉格朗日方法推导建立了系统的动力学方程。方程中的未知变量数目与约束方程数目无关,仅以广义位置为基本变量进行求解。采用不变矩阵法计算系统弹性力,引入Broyden拟牛顿法大大提高了求解效率。系统仿真结果表明了所用方法的有效性。

Based on the absolute nodal coordinate method,the large deformation flexible multibody system with nonlinear constraints was investigated.The equations of motion were deducted by Augmented Lagrangian method.The primary unknowns in the equations of motion are independent of the constraint equations.Only taking the generalized positions as the primary unknowns,the elastic forces were evaluated by the invariant matrix method and the Broyden qusi-Newton method was introduced,which made the computation efficiency improved greatly.The simulation results for this kind of systems indicate the validation of the proposed method.