摘要
The rigid flexible coupling system with a mass at non-tip position of the flexible beam is studied in this paper. Using the theory about mechanics problems in a non-inertial coordinate sys- tem, the dynamic equations of the rigid flexible coupling system with dynamic stiffening are estab- lished. It is clearly elucidated for the first time that, dynamic stiffening is produced by the coupling effect of the centrifugal inertial load distributed on the beam and the transverse vibration deformation of the beam. The modeling approach in this paper successfully solves problems of popular modeling methods nowadays： the derivation process is too complex by using only one dynamic principle; a clearly theoretical mechanism for dynamic stiffening can＇ t be offered. First, the mass at non-tip po- sition is incorporated into the continuous dynamic equations of the system by use of the Dirac lunch tion and the Heaviside function. Then, based on the conclusions of orthogonalization about the nor- mal constrained modes, the finite dimensional state space equations suitable for controller design are obtained. The numerical simulation results show that： dynamic stiffening is included in the first-or- der model established in this paper, which indicates the dynamic responses of the rigid flexible cou- pling system with large overall motion accurately. The results also show that the mass has a soften- ing effect on the dynamic behavior of the flexible beam, and the effect would be more obvious when the mass has a larger mass, or lies closer to the tip of the beam.
The rigid flexible coupling system with a mass at non-tip position of the flexible beam is studied in this paper. Using the theory about mechanics problems in a non-inertial coordinate sys- tem, the dynamic equations of the rigid flexible coupling system with dynamic stiffening are estab- lished. It is clearly elucidated for the first time that, dynamic stiffening is produced by the coupling effect of the centrifugal inertial load distributed on the beam and the transverse vibration deformation of the beam. The modeling approach in this paper successfully solves problems of popular modeling methods nowadays： the derivation process is too complex by using only one dynamic principle; a clearly theoretical mechanism for dynamic stiffening can＇ t be offered. First, the mass at non-tip po- sition is incorporated into the continuous dynamic equations of the system by use of the Dirac lunch tion and the Heaviside function. Then, based on the conclusions of orthogonalization about the nor- mal constrained modes, the finite dimensional state space equations suitable for controller design are obtained. The numerical simulation results show that： dynamic stiffening is included in the first-or- der model established in this paper, which indicates the dynamic responses of the rigid flexible cou- pling system with large overall motion accurately. The results also show that the mass has a soften- ing effect on the dynamic behavior of the flexible beam, and the effect would be more obvious when the mass has a larger mass, or lies closer to the tip of the beam.
