刚柔耦合多体系统动力学模型降阶

Model reduction of dynamics for rigid-flexible multi-body systems

提出了基于模态综合法的刚柔耦合多体系统动力学模型降阶方法。该方法用自然坐标法和绝对节点坐标法分别描述刚柔耦合多体系统中的刚体构件和柔性体构件,同时用Craig-Bampton方法对柔性体模型进行减缩。对于刚体构件与柔性体构件之间只存在线性约束的情况,建立了消除线性约束的刚柔耦合多体系统动力学方程。最后,为了验证的该方法的有效性,对刚柔耦合双摆进行了研究。仿真结果表明:适当选择模态就可以在满足计算精度的同时减少计算时间,提高计算效率。

Based on the component modal synthesis,a modal reduction method for rigid-flexible multibody systems is presented in the paper.The natural coordinate formulation and the absolute nodal coordinate formulation are used to describe the rigid parts and the flexible parts of rigid-flexible multi-body systems respectively.Craig-Bampton method is used to reduce the modes of the flexible parts.In the case linear constraints exist between the rigid parts and the flexible parts,the linear constraints are eliminated and the dynamical equation for rigid-flexible multi-body systems is obtained.Finally,in order to verify the effectiveness of the method,a rigid-flexible double pendulum is studied,which shows that properly selected modes can meet the requirement of calculation accuracy while the computing time is reduced.