摘要
柔性多体系统控制方程是具有stiff性质的刚柔耦合非线性代数-微分方程组,本文提出了一种求解该类刚性方程组的数值方法,在每一时间步,利用Newmark-β直接积分法计算迭代初值,基于控制方程及约束方程的泰勒展开,推导出Newton-Raphson迭代公式,对位移及拉格朗日乘子进行修正,最后,引用Blajer提出的违约修正方法对数值积分过程中约束方程的违约进行修正。就两个典型算例进行了数值仿真,结果证明了本文方法的有效性。
The dynamic equations of the flexible multi-body systems are set of special stiff algebraic differential equations. A numerical method for solving the stiff equations was presented. At each time step the initial iterative values were evaluated by Newmark-β method. and then the Newton-Raphson iterative formula for modifying the displacements and Lagrange multipliers was derived from the Taylor expansions of the control and constraint equations. Finally, the constraint equations violated by the numerical solutions were corrected by the constraint violation elimination approach presented by Blajer. The effectiveness of the presented method is illustrated by the simulation results of two typical examples.
出处
《力学季刊》
CSCD
北大核心
2005年第2期211-215,共5页
Chinese Quarterly of Mechanics
关键词
柔性多体系统
数值方法
非线性代数-微分方程
flexible multibody system
numerical method
nonlinear algebraic-differential equations
