浮基多体系统在静水中展开过程的运动响应

Dynamics of multibody system with floating base expanded on water surface

为模拟浮基多体系统上部结构在展开时的顺序与快慢对浮基运动响应的影响,介绍了建立在齐次矩阵方法基础上的浮基多体系统运动时域求解方法,并对一个由4刚体组成的浮基多体系统进行了建模和数值计算,模拟了上部机构以一定规律依次展开或同时展开时系统的运动响应,得到了浮基在各工况下横摇、横荡和垂荡的时间历程曲线。数值模拟结果表明:对于这2种展开形式,浮基的横荡几乎不随展开时间和形式变化,影响比较明显的是垂荡和横摇。总的来说,该浮基多体系统同时展开的方式要优于依次展开的方式。

To simulate the influence of expanding squence and speed of the upper parts on the floating-base, the transient solution to the multibody system with floating base was introduced based on the homogenenous matrix method. A four-body system with floating base was modeled and simulated with this method. The motions were analyzed when the upper parts are expanded in turn or synchronously according to a certain rule and the results including the rolling, swaying and heaving temporal variations of the floating-base were gained. The numerical results show that the swaying of the floating-base is almost not influenced by the time and forms, neither in turn nor synchronously, of expanding the upper parts. But the swaying and heaving obviously depende on the expanding time and forms. In generally, the form of synchronization is safer than that of in turn for this multibody system with the floating base.