大翻转摆杆激励下水上浮基模型的运动响应

Dynamical response of floating-base model excited by pendulum with large angular motion

为进一步研究大翻转摆杆运动对浮基运动的影响,并检验齐次矩阵建模方法和数值模拟结果的正确性,在试验水池中进行了模型试验,用非接触六自由度运动测量仪和数据采集分析系统对浮基系统的运动响应进行了记录和分析。针对此浮基多体系统,用多体系统动力学的齐次矩阵方法建立相关数学模型并进行求解。试验数据和数值模拟结果吻合较好,说明齐次矩阵方法可有效、方便、快捷地模拟浮基多体系统的运动响应。结果表明,在上部结构运动的激励下,浮基也将产生运动,即多体之间存在耦合运动;漂浮在水面上的浮基运动,将激起浮基附近流场的变化,即浮基与水之间也存在耦合运动。

A physical experiment was carried out to estimate the effect of the pendulum with large angular motion on the dynamical response of the floating-base. A mathematical model was established and calculat- ed by employing the homogeneous matrix method to validate the model and the simulation results. The non-contact measurement instrument with six-degree-of-freedom motion was used to track the trajectories of the multibody system and the data collected and analyzed through the data acquisition and analysis sys- tem. The homogeneous matrix method was employed to simulate the dynamical response of the multibody system. The experimental data and the simulation results fit each other well, which it shows that the hom- ogeneous matrix method is effective, convenient and efficient. The results also illustrate that the coupled motion exists among the multibodies because the floating-base generates motion excited by the motion of upper part and vice verse. The motion of the flow field will be excited by that of the floating-base, i.e., the coupled motion exists between the floating-base and the water.