The discontinuous dynamical problem of multi-point contact and collision in multi-body system has always been a hot and difficult issue in this field.Based on the Gauss’principle of least constraint,a unified optimiz...The discontinuous dynamical problem of multi-point contact and collision in multi-body system has always been a hot and difficult issue in this field.Based on the Gauss’principle of least constraint,a unified optimization model for multibody system dynamics with multi-point contact and collision is established.The paper presents the study of the numerical solution scheme,in which particle swarm optimization method is used to deal with the corresponding optimization model.The article also presents the comparison of the Gauss optimization method(GOM)and the hybrid linear complementarity method(i.e.combining differential algebraic equations(DAEs)and linear complementarity problems(LCP)),commonly used to solve the dynamic contact problem of multibody systems with bilateral constraints.The results illustrate that,the GOM has the same advantage of dynamical modelling with LCP and when the redundant constraint exists,the GOM always has a unique solution and so no additional processing is needed,whereas the corresponding DAE-LCP method may have singular cases with multiple solutions or no solutions.Using numerical examples,the GOM is verified to effectively solve the dynamics of multibody systems with redundant unilateral and bilateral constraints without additional redundancy processing.The GOM can also be applied to the optimal control of systems in the future and combined with the parameter optimization of systems to handle dynamic problems.The work given provides the dynamics and control of the complex system with a new train of thought and method.展开更多
基金This study was funded by the National Natural Science Foundation of China(Grant 11272167).
文摘The discontinuous dynamical problem of multi-point contact and collision in multi-body system has always been a hot and difficult issue in this field.Based on the Gauss’principle of least constraint,a unified optimization model for multibody system dynamics with multi-point contact and collision is established.The paper presents the study of the numerical solution scheme,in which particle swarm optimization method is used to deal with the corresponding optimization model.The article also presents the comparison of the Gauss optimization method(GOM)and the hybrid linear complementarity method(i.e.combining differential algebraic equations(DAEs)and linear complementarity problems(LCP)),commonly used to solve the dynamic contact problem of multibody systems with bilateral constraints.The results illustrate that,the GOM has the same advantage of dynamical modelling with LCP and when the redundant constraint exists,the GOM always has a unique solution and so no additional processing is needed,whereas the corresponding DAE-LCP method may have singular cases with multiple solutions or no solutions.Using numerical examples,the GOM is verified to effectively solve the dynamics of multibody systems with redundant unilateral and bilateral constraints without additional redundancy processing.The GOM can also be applied to the optimal control of systems in the future and combined with the parameter optimization of systems to handle dynamic problems.The work given provides the dynamics and control of the complex system with a new train of thought and method.
