摘要
任何复杂机械多体系统都可转化为等效的树形系统。将充液系统中液体与贮箱分为独立的子结构,通过动量定理和动量矩定理得到原系统液体—贮箱间晃动作用力的表达,利用空间算子代数理论对小幅晃动的充液系统进行动力学递推建模。采用有限元法对液体进行模态分析而获得液体小幅晃动的波高函数和速度势函数的自由晃动模态的表达。贮箱与其相邻物体之间可等效为弹簧阻尼的连接方式,在贮箱连体坐标系原点的位置上链接6自由度的液体内接虚铰,将液体晃动的运动学参数变量和动力学参数变量通过虚铰与贮箱进行传递,又保留液体晃动的最大信息量。未知贮箱运动情况下,贮箱内接虚铰相当于欠驱动关节,这种多体系统动力学递推过程中仍保留刚—液耦合机理,从而推导出基于空间算子代数理论液体小幅晃动的充液多体系统高效率动力学递推算法。
Any complex mechanical multibody system can be transformed into an equivalent tree system.Based on the spatial operator algebra theory,the recursive dynamics process for liquid-filled system is introduced considering small amplitude liquid sloshing,and the sloshing force between tank and liquid can be obtained by momentum theorem and the momentum moment theorem as the tank and liquid are regarded as individual bodies.The wave height function and velocity potential function expressed by modal variables are derived from the modal analysis theory of finite element method.The tank and its adjacent objects are connected with the equivalent spring and damping and by using an inboard 6-DOF virtual hinge attached on the reference frame of tank the kinematics and dynamic variables can be transferred and the maximum amount of information of liquid sloshing can be saved.The multibody system inboard joint of the tank is treated as an under-actuated joint in unknown tank movement circumstance,so as to derive the recursive dynamic algorithm for liquid-filled system under small amplitude liquid sloshing based on the spatial operator algebra theory which still holds on the rigid-liquid coupling mechani.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2010年第19期78-85,共8页
Journal of Mechanical Engineering
基金
国防科工委'十一五'预研基金
国家自然科学基金(50375071)资助项目
关键词
液体晃动
空间算子代数
递推算法
多体系统动力学
Liquid sloshing Spatial operator algebra Recursive algorithm Multibody system dynamics
