摘要
多柔体系统动力学涉及繁杂的数学运算，对系统动力学方程和系数矩阵进行手工推导是低效而不可靠的．采用数值化方法进行系统动力学分析将包括许多虚运算和重复计算，使得计算效率和精度受到了影响．同时对约束和外力的变化适应性较差．本文在通用计算机符号演算软件ＭＡＴＨＥＭＡＴＩＣＡ环境下，研究了多柔体系统动力学的计算机符号演算方法，提出将多柔体系统动力学建模和数值分析的问题在ＭＡＴＨＥＭＡＴＩＣＡ环境中一体化解决，并通过实践说明这一方法是可行的和有效的．
This paper describes the symbolic computation for dynamics of flexible multibody systems in the environment of MATHEM AT ICA, and presents integrative solution that treats the problem of dynamic model lug for and numerical analysis for flexible multibody systems with MATHEMAT ICA. Its availability and effectiveness are illustrated by practices.
关键词
多柔体系统
动力学
计算机符号演算
数值分析
dynamics of flexible multibody systems computer symbolic computation
MATHEMATICA.
