一种约束树形多体系统动力学建模方法

The Method for Modeling of Tree Binding Multibody System Dynamic

在归纳总结复杂机电动力学系统特点的基础上,提出一种约束函数递推组集法的复杂机电系统全局建模方法。首先根据复杂机电系统的拓扑结构和约旦变分原理,建立机械系统的单体动力学模型,应用递推组集技术建立树形复杂机电系统的动力学模型。其次建立非树形复杂机械系统的约束函数,解除非树形系统的约束,利用树形系统的建模方法建立非树形系统的动力学模型。最后建立约束函数,利用约束函数与电系统方程解约,建立复杂机电系统的全局模型。

In this paper a method for modeling of tree binding multibody system dynamic is presented. the dynamic equations of single machine body is derived based on characteristics of complex system and the Jordain's principle. Dynamic equations of tree multibody of complex mechatronic system is derived by use of recursive technique. The restriction function of complex machine nontree system was given, the restriction of nontree system was raveled, the dynamic modeling of nontree system is given based on method of modeling tree system. The restriction function of mechanism coupled electricity is given, the restriction was raveled by use of restriction function and electricity equation, global modeling of complex mechatronic system is given.