摘要
将多体系统动力学方程Ｈｕｓｔｏｎ 标分量形式的描述转换成为矩阵形式，建立了Ｎｅｗ ｔｏｎ－Ｅｕｌｅｒ形式的Ｈｕｓｔｏｎ方法描述的多体系统动力学方程。在矩阵展开过程中， 克服了按低序体阵列排序 （由高序体向低序体） 求和难于形成一般形式的矩阵表示的障碍， 建立了按自然数序列排序 （由低序体向高序体） 求和的描述系统。同时将变换矩阵转变为各体相对 （角） 速度对Ｂｋ 体绝对 （角） 速度贡献的控制矩阵， 实现了对变换矩阵展开的一般表示。
The equation of the multibody system dynamics with the scalar component form used in Huston’s method is converted into one with the matrix form and the dynamic equation with Newton Euler form is established In the process of unfolding matrices,an obstacle is overcome,which is difficult to form general expressions from high numbered bodies to low numbered bodies when the matrices are summed,so that a describing system from low numbered bodies to ligh numbered bodies arranged in the natural numbers array is established,in which the transformation matrix is used concurrently as the control matrix which represents the contribution of the relative(angular) velocity of every body to the absolute (angular)velocity of the body B k ,thus,it realizes to give a general expression to the unfolded transformation matrix
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
1999年第6期5-9,共5页
Journal of Mechanical Engineering
基金
国家自然科学基金!59575026
关键词
多体系统动力学
矩阵分析
低序体阵列
Multibody system dynamics Matrix analysis Array of low numbered bodies
