考虑刚-液耦合的大幅晃动多体系统动力学建模与分析  

Dynamic modeling and analysis of a liquid-filled multi-body system with large-scale amplitude sloshing considering the rigid-liquid coupling effect

作　　者：张诗琪 刘锦阳[1] ZHANG Shiqi;LIU Jinyang(School of Naval Architecture,Ocean&Civil Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学船舶海洋与建筑工程学院,上海200240

出　　处：《振动与冲击》2020年第18期109-117,共9页Journal of Vibration and Shock

基　　金：国家自然科学基金(11772186,11772188)。

摘　　要：该研究考虑刚-液耦合,建立大幅晃动多体系统的动力学模型。基于光滑粒子群方法(SPH方法)建立了非惯性系下大幅晃动液体的运动方程,液体边界条件采用虚粒子法,保证边界处不可穿透,从而改进了液体自由表面的计算精度。为了解决传统的排斥力法计算液体作用于刚体边界的晃动力和晃动力偶矩存在的精度不足问题,提出了一种新的计算晃动力和晃动力偶矩的方法,通过计算各粒子绝对加速度,得到粒子的达朗贝尔惯性力的主矢和对刚体质心的主矩,利用达朗贝尔原理计算得到向质心简化的晃动力和晃动力偶矩,建立了考虑刚-液耦合的充液刚体的动力学方程。在此基础上引入刚体之间的运动学约束关系,建立多体系统的动力学方程。通过液体晃动与制动液罐车两个算例,验证了建模方法的有效性。The dynamic model for a liquid-filled multi-body system with large-scale amplitude sloshing was established considering the rigid-liquid coupling effect.Firstly,the equation of motion of the liquid with large-scale amplitude sloshing described in a non-inertial frame was derived based on the smoothed particle hydrodynamics method(SPH method),and the boundary condition was considered by using the virtual particle method in order to avoid boundary penetration and improve the calculation accuracy of the free surface motion.In view of the insufficiency in calculation accuracy of the existing repulsive boundary method,a new method was proposed to calculate the slosh force and slosh torque.In the method,the acceleration of each particle was calculated to obtain the principal vector and the principal moment about the rigid body center of the D’Alembert’s inertial forces applied on all of the particles.The D’Alembert’s principle was employed to calculate the simplified slosh force and slosh torque with respect to the rigid body center in accordance with the equilibrum equation.Then,the rigid-liquid coupled dynamic equations were derived.On this basis,finally,the kinematic constraint relations were assembled into the equations to form a complete set of dynamic equations of the liquid-filled multi-body system.The validity of the dynamic model was verified through two simulation examples of a liquid sloshing system and a tank truck in the process of braking.

关 键 词：充液多体系统 大幅晃动 刚-液耦合 

分 类 号：O313.7[理学—一般力学与力学基础]