摘要
对一含有完整约束的多体系统在平面、空间中的运动规律进行了计算机仿真研究．采用通常动力学方 法，以卡尔丹角作为位置角建立和求解动力学方程，并对进行和不进行违约修正的仿真结果进行了比较．然后 采用多体系统离散时间传递矩阵法进行了计算机仿真．仿真结果表明多体系统传递矩阵法在不进行违约修正 的情况下，仍能保证完整约束不被违反．与通常动力学方法相比，多体系统传递矩阵法不需进行违约修正．
The computational simulation of the movement of a multibody system which including holonomic constraints moving in plane and in space was studied by using the discrete time transfer matrix method of multibody system （MS-DT-TMM）. With ordinary dynamic method, regarding the Kardan Angle as the orientation angle, the dynamic equations were founded and ,solved, and the simulation results with or without the constraint violation correction were compared. The simulation results show that it is not necessary to deal with the constraints of the system for the MS-DT-TMM, because the constraint equations are always ,satisfied for the computational example studied in this paper.
出处
《动力学与控制学报》
2005年第3期7-12,共6页
Journal of Dynamics and Control
基金
中国石油天然气集团公司青年创新基金
中国石油大学科研基金(Y030306)资助
