基于旋量与模态分析理论的多柔体系统反向动力学仿真  

The Inverse Dynamics Simulation of Flexible Multibody System Based on Spatial Operator Algebra Theory

作　　者：刘芳华[1,2] 吴洪涛[1] 周波[1] 方喜峰[2] 

机构地区：[1]南京航空航天大学,南京210016 [2]江苏科技大学,镇江212003

出　　处：《机械科学与技术》2013年第9期1337-1341,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(50375071);国防"十一五"预研重点基金项目;江苏省数字化制造技术重点实验室基金项目(HGDML-0601)资助

摘　　要：基于旋量与模态分析理论基础上,对多柔体系统的质量矩阵、刚度矩阵、反向动力学等进行了研究,由于质量矩阵是动力学研究的核心,因此质量和刚度矩阵的递推算法,以及它们可逆性的存在是形成高效算法的关键。运用Mathematica6.0软件,实现了多柔体系统反向动力学的符号推导;运用VisualC++编程软件实现与Mathematic6.0软件无缝集成,对多柔体系统动力学仿真及反向动力学进行参数化分析与计算,给出了实施过程。通过对某小型卫星算例验证,并与ADAMS的仿真结果进行对比,表明了结果的正确性和高效性。The inverse dynamics of the flexible muhibody system is studied based on the Spatial Operator Algebra theory, and the realization of the generalized mass procedure is built in the environment of Matahematic6.0 soft- ware. The high effective stepping method can be used to compute forward and reward dynamics, and it is the im- portant factor linking rotate force and rotating acceleration, and has a simple math expression and a clear physical meaning. The software structure of the generalized mass and inverse dynamics is built and the dynamics simulation model for flexible muhibody system is realized based on the integrated procedure and Mathematic6.0. According to the present analysis, the example of star generalized mass is studied, and correctness and validity is verified by computed examples.

关 键 词：多柔体系统 反向动力学 刚度矩阵 递推算法 卫星 

分 类 号：TP391[自动化与计算机技术—计算机应用技术] TH113[自动化与计算机技术—计算机科学与技术]