现代信息科技2023，Vol.7Issue(24)：147-151,156,6.DOI:10.19850/j.cnki.2096-4706.2023.24.030
基于Euler-poincare方程高效率的机械多体系统动力学建模
High Efficient Dynamics Modeling of Mechanical Multibody System Based On Euler-Poincare Equation
郝永江 1李炳志 2王爽3
作者信息
- 1. 昆山市重点产业发展促进中心,江苏 苏州 215300
- 2. 中国重型汽车集团有限公司,山东 济南 250000
- 3. 南京信息工程大学,江苏 南京 210044
- 折叠
摘要
Abstract
The introduction of quasi-velocities leads to a generalization of Lagrange's equation,and the dynamics model of multi-body system established by Euler-Poincare equation achieves global description of the dynamics,and keeps the advantages of underlying theoretical structure and the Lagrange's equation.Its inertia matrix is relatively simple,which can be application to holonomic or non-holonomic constrained systems.The shift operator of spatial operator algebra combines the features of correlation matrix,access matrix and lower body arrays,and its simple structure is easy to be achieved on computer.More importantly,it contains recurrence relation of kinematics and dynamics.It is introduced into the calculation of the kinetic energy function,which improves the efficiency,avoids double counting and cross operation.Finally,the calculation examples and the simulation are given.关键词
伪速度/欧拉-庞卡莱方程/移位算子/高效率/动力学模型Key words
quasi-velocities/Euler-Poincare equation/shift operator/high efficiency/dynamics model分类
信息技术与安全科学引用本文复制引用
郝永江,李炳志,王爽..基于Euler-poincare方程高效率的机械多体系统动力学建模[J].现代信息科技,2023,7(24):147-151,156,6.
