摘要
给出了含摩擦滑移铰多刚体系统动力学的LCP建模及数值方法。建模方面提出了基于约束分解的方法,以一对单边约束取代含摩擦滑移铰的双边约束,以加速度-力的互补条件表示含摩擦滑移铰的法向几何约束及切向上的摩擦力约束,使得系统动力学方程中不含有Lagrange乘子的绝对值项。数值计算方面采用基于LCP的事件驱动算法,给出了滑移铰触-离转换以及滞-滑转换的检测方法,通过定义一个变维数矩阵,使得LCP公式形式简洁、表达准确且易于编程实现。通过具体算例对以上建模与数值方法进行说明与验证。
In this paper, a new method for the modeling and simulating of planar multi-body dynamics with friction-affected sliding joints is presented. Each friction-affected sliding joint is split into two unilateral constraints opposite to each other. The normal constraint equalities and tangential frictional forces are replaced by unilateral inequalities that are expressed in complementary form at acceleration level, so the absolute items of Lagrange multiplier in dynamic equations are avoided. LCP-based event-driven scheme is adopted. A new dimension-changeable matrix is introduced for describing the structure-dependent feature of the system. The simulation results show that the proposed method is effective.
出处
《工程力学》
EI
CSCD
北大核心
2010年第11期34-39,45,共7页
Engineering Mechanics
关键词
库仑摩擦
单边约束
双边约束
多体系统
线性互补问题
事件驱动算法
Coulomb friction
unilateral constraints
bilateral constraints
multi-body system
LCP
event-driven scheme
