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含滚阻摩擦平面多体系统的建模和数值方法

曹洁 吕敬 王琪

曹洁, 吕敬, 王琪等 . 含滚阻摩擦平面多体系统的建模和数值方法[J]. 北京航空航天大学学报, 2012, (3): 410-415.
引用本文: 曹洁, 吕敬, 王琪等 . 含滚阻摩擦平面多体系统的建模和数值方法[J]. 北京航空航天大学学报, 2012, (3): 410-415.
Cao Jie, L? Jing, Wang Qiet al. Modeling and simulating of planar multi-body systems with rolling resistance and Coulomb friction[J]. Journal of Beijing University of Aeronautics and Astronautics, 2012, (3): 410-415. (in Chinese)
Citation: Cao Jie, L? Jing, Wang Qiet al. Modeling and simulating of planar multi-body systems with rolling resistance and Coulomb friction[J]. Journal of Beijing University of Aeronautics and Astronautics, 2012, (3): 410-415. (in Chinese)

含滚阻摩擦平面多体系统的建模和数值方法

基金项目: 国家自然科学基金资助项目(11072014,10832004)
详细信息
  • 中图分类号: O 313.7

Modeling and simulating of planar multi-body systems with rolling resistance and Coulomb friction

  • 摘要: 针对含滚阻和摩擦的平面多体系统,给出了通用的力学模型,利用第一类Lagrange方程建立了系统的动力学方程,为便于约束力的计算,利用局部方法列写约束方程,并以矩阵形式给出了该系统滚阻力偶和摩擦力的广义力.该系统动力学方程是非光滑的,通过建立滚阻定律的互补条件以及光滑铰链约束力的互补条件,给出了具有约束稳定化的基于事件驱动法的数值算法,将非光滑约束力、铰链约束力的求解以及滚轮滑动与粘滞的判断问题统一转化为一个线性互补问题进行求解.对两个算例进行了数值仿真,算例数值结果表明了该方法的可行性和有效性.

     

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出版历程
  • 收稿日期:  2010-11-09
  • 网络出版日期:  2012-03-30

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