The paper builds a multi-rigid-body model of human with a 4-rigid-body foot in the 3D CAD software Solidworks, based on human anatomy. By controlling the rotation of the ankle and major joints of human body while walk...The paper builds a multi-rigid-body model of human with a 4-rigid-body foot in the 3D CAD software Solidworks, based on human anatomy. By controlling the rotation of the ankle and major joints of human body while walking, the Kinematic simulation was performed in the dynamics simulation software ADAMS. The paper analyzes the simulate results and points out deficiencies in the current work and the direction of research efforts in future.展开更多
Impact dynamics of multi-rigid-body systems with joint friction is considered. Based on the traditional approximate assumption dealing with impact problem, a general numerical method called the sliding state stepping ...Impact dynamics of multi-rigid-body systems with joint friction is considered. Based on the traditional approximate assumption dealing with impact problem, a general numerical method called the sliding state stepping algorithm is introduced. This method can avoid difficulties in solving differential equations with variable scale and its result can avoid energy inconsistency before and after impact from considering complexily of tangential sliding mode. An example is given to describe details using this algorithm.展开更多
This article investigates the dynamic characteristics of deflectable nose missiles with rotary single-channel control. After introduction of effective attack and sideslip angles as well as quasi-body coordinates based...This article investigates the dynamic characteristics of deflectable nose missiles with rotary single-channel control. After introduction of effective attack and sideslip angles as well as quasi-body coordinates based on the spin characteristics of the missile＇s body, an integrated rigid kinetic model of missile with deflectable nose control is set up in the quasi-body coordinates considering the interaction between the missile＇s nose and body by using rootless multi-rigid-body system dynamics and is linearized. Then an analysis with simulation is conducted to investigate the coupling characteristics between the channels, the influences of nose deflection on the body and the dynamic characteristics of missile＇s body. The results indicate that various channels of missiles with deflectable nose control are coupled cross-linked; the nose deflection tends to make the body move in the opposite direction and, finally, evidences the correctness and reasonability of the kinetic model proposed by this article.展开更多
A robust attitude control methodology is proposed for satellite system with double rotary payloads. The dynamic model is built by the Newton-Euler method and then the dynamic interconneetion between satellite＇s main ...A robust attitude control methodology is proposed for satellite system with double rotary payloads. The dynamic model is built by the Newton-Euler method and then the dynamic interconneetion between satellite＇s main body and payloads is described precisely. A nonlinear disturbance observer is designed for satellite＇s main body to estimate disturbance torque acted by motion of payloads. Meanwhile, the adaptive fast nonsingular terminal sliding-mode attitude stabilization controller is proposed for satellite＇s main body to quicken convergence speed of state variables. Similarly, the adaptive fast nonsingular terminal sliding-mode attitude maneuver controller is designed for each payload to weaken the disturbance effect of motion of satellite＇s main body. Simulation results verify the effectiveness of the proposed method.展开更多
文摘The paper builds a multi-rigid-body model of human with a 4-rigid-body foot in the 3D CAD software Solidworks, based on human anatomy. By controlling the rotation of the ankle and major joints of human body while walking, the Kinematic simulation was performed in the dynamics simulation software ADAMS. The paper analyzes the simulate results and points out deficiencies in the current work and the direction of research efforts in future.
基金the National Natural Science Foundation of China(No.10532050)the Na-tional Science Fund for Distinguished Young Scholars(No.10625211)the Science Development Foundation of Shandong University of Science and Techonogy(No.05g017)
文摘Impact dynamics of multi-rigid-body systems with joint friction is considered. Based on the traditional approximate assumption dealing with impact problem, a general numerical method called the sliding state stepping algorithm is introduced. This method can avoid difficulties in solving differential equations with variable scale and its result can avoid energy inconsistency before and after impact from considering complexily of tangential sliding mode. An example is given to describe details using this algorithm.
基金Weapons Preliminary Research Key Foundation of China (9140A01010106HK0307)
文摘This article investigates the dynamic characteristics of deflectable nose missiles with rotary single-channel control. After introduction of effective attack and sideslip angles as well as quasi-body coordinates based on the spin characteristics of the missile＇s body, an integrated rigid kinetic model of missile with deflectable nose control is set up in the quasi-body coordinates considering the interaction between the missile＇s nose and body by using rootless multi-rigid-body system dynamics and is linearized. Then an analysis with simulation is conducted to investigate the coupling characteristics between the channels, the influences of nose deflection on the body and the dynamic characteristics of missile＇s body. The results indicate that various channels of missiles with deflectable nose control are coupled cross-linked; the nose deflection tends to make the body move in the opposite direction and, finally, evidences the correctness and reasonability of the kinetic model proposed by this article.
基金supported by the National Natural Science Foundation of China(No.91016017)the Funding of Jiangsu Innovation Program for Graduate Education (No. CXZZ12_0160)+1 种基金the Natural Science Foundation of Jiangsu Province of China(No.BK20130234)the Changzhou Sci.& Tech.Program (CE20145056)
文摘A robust attitude control methodology is proposed for satellite system with double rotary payloads. The dynamic model is built by the Newton-Euler method and then the dynamic interconneetion between satellite＇s main body and payloads is described precisely. A nonlinear disturbance observer is designed for satellite＇s main body to estimate disturbance torque acted by motion of payloads. Meanwhile, the adaptive fast nonsingular terminal sliding-mode attitude stabilization controller is proposed for satellite＇s main body to quicken convergence speed of state variables. Similarly, the adaptive fast nonsingular terminal sliding-mode attitude maneuver controller is designed for each payload to weaken the disturbance effect of motion of satellite＇s main body. Simulation results verify the effectiveness of the proposed method.
