基于惯量伪速度的机械多体系统高效率动力学建模  

A Dynamic Model of Mechanical Multibody System Base on Inertia Quasi-velocities

作　　者：刘云平[1] 吴洪涛[2] 方喜峰[2] 姚裕[3] 

机构地区：[1]南京信息工程大学信息与控制学院,南京210044 [2]南京航空航天大学机电学院,南京210016 [3]南京航空航天大学航空宇航学院,南京210016

出　　处：《机械科学与技术》2010年第1期109-112,118,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(50375071);民用航天十一五预研项目支持;航空科学基金项目(H0608-012)资助

摘　　要：对于多个体组成的复杂大型多体系统,传统动力学建模方法推导过程费时费力,通过形位参数建立的二阶微分方程组冗长、繁多并且计算量大难以求解。伪速度从运动的本质出发,引入速度级独立变量代替广义坐标,拓宽了独立变量的选取范围,得到了形式简洁的可积分的一阶微分方程组。笔者通过旋量递推与惯量伪速度结合,研究了高效率的建模方法,对两类伪速度进行区分,并阐述了惯量伪速度的物理含义,并得到了伪速度建模的优点。得到的对角化一阶动力学方程形式简洁,直接面向计算机编程实现,易于设计解耦控制或非交互控制,并把建模过程应用于Puma560机器人中。The general second order differential dynamic equations established by shape and position parameters of system are usually difficult to solve. Quasi-velocities are first derived from system kinematical characteristic, which are speed-level independent variables instead of the generalized coordinates, thus broadening the scope of variable se- lection. Then, an integral form of simple first-order differential equations is obtained using Quasi-velocities. A highly efficient calculation dynamic modeling method is presented based on the reeursion screw theory and inertia quasi-ve- locities theory to distinguish the two kinds of quasi-velocities. The dynamic equation established by quasi-velocities is in a simple diagonally matrix form and can be solved by direct programming. Therefore, it is easy to design the decoupling control and non-interactive control. Finally, an example of Puma 560 robot is given to verify our method.

关 键 词：惯量伪速度 动力学建模 递推 高效率 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]