摘要
用子结构方法和单向递推组集方法研究闭环的柔性多体系统的多点撞击问题。在撞击过程中 ,在切割铰中增加撞击铰 ,导出了以铰坐标和柔性体模态坐标为系统广义坐标的闭环柔性多体系统在撞击阶段的动力学方程。利用相对坐标下约束方程的 Lagrange乘子和利用绝对坐标下约束方程的 La-grange乘子相等的关系求出切割铰的约束力 ,即撞击力。提出了撞击铰的切换方法。计算了卫星太阳电池阵帆板展开锁定时帆板之间多个接触处撞击力的变化规律。计算结果表明 ,对柔性体之间的碰撞 ,撞击力可能出现多个峰值 。
In this paper,the substructure method and forward recursive formulation are used to study the impact with multiple contact points of flexible multibody system with closed loops. During the impact, the impact joints are added into the cut joints, the equation of motion of the flexible multibody system with closed loops expressed in relative coordinates and modal coordinates is obtained.The impact force is obtained according to the relation between the Lagrange multipliers of the contact constraints expressed in relative coordinates and absolute coordinates.The constraint addition-deletion technique is proposed. Application of the method is illustrated for the impact of satellite's plates. Time histories of impact forces of multiple contact points are presented. It shows that the impact forces may reach several peaks during impact and that the impact forces of multiple contact points at symmetric position are different.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2000年第6期619-623,共5页
China Mechanical Engineering
基金
国家自然科学基金资助项目! (1 9832 0 4 0 )
关键词
闭环柔性多体系统
多点撞击
子结构方法
flexible multibody system with closed loops impact with multiple contact points substructure method forward recursive formulation constraint addition-deletion technique impact force
