摘要
针对多体系统动力学微分-代数方程求解问题,研究基于萤火虫算法的求解方法.首先将广义坐标和广义速度进行Lagrange插值,结合Gauss数值积分方法,将微分-代数方程求解问题转化成求解最优化问题.然后用萤火虫算法对问题进行优化求解.最后,通过对平面双连杆机械臂的多体系统仿真实验,验证了萤火虫算法在求解动力学方程中既保持了约束又较好地保证了能量精度.结果表明智能优化算法在求解多体动力学问题上具有较好的应用前景.
To solve the differential algebraic equations of multibody system dynamics,a method based on firefly algo⁃rithm is studied.Firstly,the generalized coordinates and generalized velocities are interpolated by Lagrange interpola⁃tion algorithm,and the differential algebraic equations are then transformed into optimization problems by the Gauss nu⁃merical integration method.Then the firefly algorithm is employed to solve the problem.Finally,through simulating the plane double link manipulator,it is verified that the firefly algorithm not only keeps consistent with the constraints but also ensures the energy accuracy in solving the dynamic equation.The results show that the intelligent optimization algo⁃rithm has a good application prospect in solving multibody dynamics problems.
作者
张笑笑
丁洁玉
Zhang Xiaoxiao;Ding Jieyu(School of Mathematics and Statistics,Qingdao University,Qingdao 266071,China;Center for Computational Mechanics and Engineering Simulation,Qingdao University,Qingdao 266071,China)
出处
《动力学与控制学报》
2021年第2期85-90,共6页
Journal of Dynamics and Control
基金
国家自然科学基金资助项目(11772166,11472143)。
关键词
多体系统动力学
微分代数方程
萤火虫算法
multibody system dynamics
differential algebraic equations
firefly algorithm
