大垂度柔索的动力学建模与仿真

基金项目: 国家自然科学基金资助项目(59635140);国家教委博士点基金;航空工业总公司基金

Dynamic Modeling and Simulation of Flexible Cable With Large Sag

1.
Architectural Engineering Department, Logistic Engineering College, Chongqing 400041, P R China;
2.
Engineering Mechanics Department, Chongqing University, Chongqing 400044, P R China;
3.
National Key Laboratory on Mechanical Transmission, Chongqing University, Chongqing 400044, P R China

摘要: 用多刚体-球铰模型对大垂度柔索进行离散化建模,利用多刚体系统动力学理论建立了该模型的动力学方程.采用矩阵广义逆理论对其位移和速度进行修正,以消除该微分-代数方程在数值分析中的违约现象.数值仿真证明了该方法的正确性.
- 大垂度柔索 /
- 多刚体动力学 /
- 数值仿真 /
- 违约修正
Abstract: Discrete model of flexible cable with large sag is established by using multiple rigid body- spherical hinge model,and dynamic equation of that discrete model is derived according to dynamics theory of multiple rigid body system.Displacement and velocity of system are revised to eliminate violation phenomenon of the differential-algebra equation in numerical simulation based on the theory of generalized inverse of matrices.Numerical simulation proves the validity of our method.
- flexible cable with large sag /
- multiple rigid body system dynamics /
- numerical simulation /
- violation correction

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