多柔體系統(tǒng)動力學建模及數(shù)值方法研究.pdf

1、西安電子科技大學碩士學位論文多柔體系統(tǒng)動力學建模及數(shù)值方法研究姓名：林偉新申請學位級別：碩士專業(yè)：機械制造及其自動化指導教師：劉明治20080101ABSTRACTABSTRACTRecentlythedynamicsofflexiblemultibodysystemsistakingmoreandmoreattentionmodelingandnumericalsolutionsareitskernelcontentsInthispa

2、perbothmodelingmethodsandnumericalsolutionsarestudiedThispaperfirstlydealswiththetheoryofflexiblemultibodydynamics，modelingmethod，theanalyzingmethodofdynamicstiffeningofflexiblebodyWithgeneralsymboliccomputationsoffware(

3、Mathematica)，theimportantmassmatrix，differentialcoefficientandthegeneralforcesrelatedtovelocitybinomialindynamicsdominateequationsareinducedSecondlyvariousnumericalmethodsfordynamicsofflexiblemultibodysystemsalediscussed

4、，andthenfocusonthediscussionofsomecorrectionalgorithmofconstraintviolation，theadvantagesanddisadvantages，appliedrangeofthosememodSareanalyzedAnewmethodforconstraintstabilizationispresentedAteachtimestep，theinitialiterati

5、vevalueswereevaluatedbyNewmark一13method，andthentheNewtonRaphsoniterativeformulaformodifyingthedisplacementsandLagrangemultirlierswasderivedfromtheTaylorexpansionsoftheeontrolandconstraintequations，SOthatitcanmeetthecontr

6、olandconstraintequationsofmultibodysystemsFinallytheeffectivenessofthepresentedmethodisillustratedbythesimulationresultsofonetypicalexampleKeyword：DynamicsofFlexibleMultibodySystemsSymbolicComputationNumericalMethodCorre