基于Euler-poincare方程高效率的机械多体系统动力学建模  

High Efficient Dynamics Modeling of Mechanical Multibody System Based On Euler-Poincare Equation

作　　者：郝永江 李炳志 王爽[3] HAO Yongjiang;LI Bingzhi;WANG Shuang(Kunshan Key Industry Development and Promotion Center,Suzhou 215300,China;China National Heavy Duty TruckGroup Co.,Ltd.,Ji'nan 250000,China;Nanjing University of Information Science&Technology,Nanjing 210044,China)

机构地区：[1]昆山市重点产业发展促进中心,江苏苏州215300 [2]中国重型汽车集团有限公司,山东济南250000 [3]南京信息工程大学,江苏南京210044

出　　处：《现代信息科技》2023年第24期147-151,156,共6页Modern Information Technology

摘　　要：伪速度的引入导致了拉氏方程的广义化,使得通过欧拉-庞卡莱方程建立多体系统的动力学模型,实现了动力学的全局描述,并保持了潜在理论结构和拉氏方程的优点。并且其惯量矩阵相对简单,对于完整或非完整约束系统都适用。空间算子代数中的移位算子结合了关联矩阵、通路矩阵和低序体阵列的特点,而且形式更简单,更容易在计算机上实现,最重要的是它包含了运动学和动力学递推关系。将其引入动能函数的计算,提高了效率,避免了重复计算、交叉运算。最后给出了算例及仿真。The introduction of quasi-velocities leads to a generalization of Lagrange's equation,and the dynamics model of multi-body system established by Euler-Poincare equation achieves global description of the dynamics,and keeps the advantages of underlying theoretical structure and the Lagrange's equation.Its inertia matrix is relatively simple,which can be application to holonomic or non-holonomic constrained systems.The shift operator of spatial operator algebra combines the features of correlation matrix,access matrix and lower body arrays,and its simple structure is easy to be achieved on computer.More importantly,it contains recurrence relation of kinematics and dynamics.It is introduced into the calculation of the kinetic energy function,which improves the efficiency,avoids double counting and cross operation.Finally,the calculation examples and the simulation are given.

关 键 词：伪速度 欧拉-庞卡莱方程 移位算子 高效率 动力学模型 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]