非惯性系柔性平面连杆机构系统完全动力学问题的回转键合图法  

The Gyrobondgraph Method for The Complete Dynamic Problem of Flexible Planar Linkage Systems In Non-Inertial Coordinate System

作　　者：王中双[1] 陆念力[1] 徐长顺[2] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001 [2]齐齐哈尔大学机械学院,齐齐哈尔161006

出　　处：《机械科学与技术》2005年第10期1236-1240,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：黑龙江省教育厅骨干教师资助计划项目资助

摘　　要：介绍了非惯性系柔性机械系统完全动力学问题的回转键合图法,给出了非惯性系下综合考虑刚、弹性及多种能域相互耦合的柔性机械系统键合图模型的建立方法。基于回转键合图理论,推导出便于计算机自动生成的系统状态方程及运动副约束反力方程的统一公式,有效地克服了微分因果关系及非线性结型结构给在计算机上自动建立系统状态方程及运动副约束反力方程所带来的十分困难的代数问题。所述方法特别适合于多能域并存的系统。结合实例来说明本文方法的有效性及通用性。The gyrobondgraph method for the complete dynamic problem of flexible planar linkage systems in non-inertial coordinate system is proposed. The general procedure for giving the system a bond graph model which includes the coupling of rigidity, flexibility and multi-energy domains in non-inertial coordinate system is provided. Based on the gyrobondgraph theory, unified formulae of system state-space equations and constraint forces at joints are derived, which are easy for a computer to generate. Thus, the very difficult algebra problem brought about by nonlinear junction strcture and differential causality in formulating system state-space equations and constraint force equations at joints is overcome. This procedure is particularly suitable for the system containing multi-energy domains. The generality and effectiveness of this procedure are illustrated by an actual example.

关 键 词：回转键合图 完全动力学 非惯性系 柔性连杆机构 

分 类 号：TH113[机械工程—机械设计及理论]