完整系统的多刚体系统离散时间传递矩阵法研究

Study on Holonomic System with Discrete Time Transfer Matrix Method

基于多刚体系统离散时间传递矩阵法,采用提高计算精度的方法,研究具有大运动、非线性特征的完整系统在平面、空间中的动力学响应。提出了对部分变量重新赋值的违约修正方法,计算机仿真表明了其有效性。多刚体系统离散时间传递矩阵法不须进行违约修正,体现了该方法建模灵活性较强、程式化程度较高的优点。

The computational simulation of the'movement of a multibody system including holonomic constraints moving in plane and in space was done. The discrete time transfer matrix method of multibody system (MS-DT-TMM) was used to study this large movement and nonlinear problem with the method of improving accuracy. The re-valued constraint violation correction was presented and validated. The MS-DT-TMM has the advantage of not needing the correction of constraints error and provides the flexibility in modeling multibody system with varying configuration.