平面柔性多体系统完全动力学问题的回转键合图法  

Gyrobondgraph Method for Complete Dynamic Problem of Planar Flexible Multi-body Systems

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,哈尔滨150001 [2]齐齐哈尔大学,齐齐哈尔161006

出　　处：《中国机械工程》2005年第23期2093-2097,共5页China Mechanical Engineering

基　　金：齐齐哈尔市学科带头人基金资助项目(03P019)

摘　　要：介绍平面柔性多体系统完全动力学问题的回转键合图法。给出了综合考虑刚弹性及多种能域相互耦合的平面柔性多体系统键合图模型的建立方法,推导出了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,克服了非线性几何约束及微分因果关系给建立系统状态方程及运动副约束反力方程所带来的代数环问题。回转键合图法特别适合于多种能域并存的系统。通过实例说明了方法的有效性。A gyrobondgraph method for complete dynamic problem of planar flexible multi-body systems was proposed. The general procedure for modeling systems by bond graphs which included the coupling of rigidity,flexibility and multi-energy domains was provided. The unified formulae of system state-space equations and constraint force equations at joints were derived,they were easily generated on a computer. The algebraic loop problem brought up by nonlinear geometric constraints and differential causality in formulating system state-space equations and constraint force equations can be solved by the procedure. This procedure is very suitable for the systems containing multi-energy domains. By a practical example,the validity of this procedure is illustrated.

关 键 词：回转键合图 完全动力学 平面柔性多体系统 微分因果关系 

分 类 号：O313.7[理学—一般力学与力学基础] TH113[理学—力学]