基于修正Udwadia-Kalaba方法的刚体系统动力学模拟  

Dynamics simulation of rigid body system based on modified Udwadia-Kalaba method

作　　者：郭明明 姚文莉[1] GUO Mingming;YAO Wenli(School of Science, Qingdao University of Technology, Qingdao 266525, China)

机构地区：[1]青岛理工大学理学院,青岛266525

出　　处：《青岛理工大学学报》2021年第5期131-139,共9页Journal of Qingdao University of Technology

基　　金：国家自然科学基金资助项目(11272167)。

摘　　要：借助于Udwadia-Kalaba方法,在受约束系统的动力学建模中,无需引入拉格朗日乘子,从而直接得到广义约束力。当处理理想约束力与非理想约束力存在耦合的系统时,Udwadia-Kalaba方法的应用存在缺陷。采用针对非光滑系统的修正Udwadia-Kalaba方法,研究了含摩擦的刚体系统的动力学模型,并建立了包含滑动和黏滞两种状态的非光滑刚体系统动力学的计算框架。结合具体实例,对修正后的Udwadia-Kalaba方法进行了动力学模拟,并与用经典的刚体动力学方法和未修正的Udwadia-Kalaba方法所得的结果进行了对比,验证了修正的Udwadia-Kalaba方法的正确性及有效性。With the aid of Udwadia-Kalaba method,it is not necessary to introduce Lagrange multiplier in the dynamic modeling of constrained system,so the generalized constraint force can be obtained directly.When dealing with the system with coupling of ideal and non-ideal constraints,the application of Udwadia-Kalaba method is defective.The dynamic model of rigid body system with friction is studied by using the modified Udwadia-Kalaba method for non-smooth system,and the computational framework of non-smooth rigid body system with sliding and viscous states is established.Combined with a specific example,the dynamics simulation of the modified Udwadia-Kalaba method is carried out,and the results are compared with those obtained by the classical rigid body dynamics method and the unmodified Udwadia-Kalaba method,which verifies the correctness and effectiveness of the modified Udwadia-Kalaba method.

关 键 词：刚体动力学 Udwadia-Kalaba方法 理想约束 非理想约束 干摩擦 

分 类 号：O313.3[理学—一般力学与力学基础]