多体系统动力学层级式解析建模方法及其虚拟样机技术应用

项目名称： 多体系统动力学层级式解析建模方法及其虚拟样机技术应用

项目编号： No.11302074

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 数理科学和化学

项目作者： 黄晋

作者单位： 清华大学

项目金额： 26万元

中文摘要： 虚拟样机技术为多体系统动力学分析提供了有力的工具，其理论基础即为多体系统动力学。现代多体系统动力学数值求解理论得到了很大发展，然而其根据给定的系统初值状态求解得到的系统动力学的数值解不便于一般性的动力学性能分析（如稳定性）和控制器设计。适用于复杂多体系统解析建模的理论研究仍处于起步阶段。本项目针对以上问题，将基于约束机械系统新进展，结合复杂多体系统特点，构建一种新的灵活的多体系统动力学解析建模方法，以层级的方式构建多体系统解析动力学方程，为虚拟样机解析建模和控制设计奠定理论基础。该建模理论既能够灵活处理理想约束复杂多体系统的解析建模问题，也能够处理非理想约束摩擦力的解析建模问题。本项目还将研究该理论的虚拟样机解析建模实现及其控制设计应用。本项目研究为多体系统解析建模与控制设计提供新的思路，对于满足复杂机械多体系统控制对解析模型的需求，促进多体系统动力学建模与控制技术的发展具有重要意义。

中文关键词： 多体系统；动力学；解析建模方法；结题报告；

英文摘要： Virtual prototype technology, which is based on multibody system dynamics theoretically, provides a powerful tool for multibody system dynamics analysis. Numerical solution theory for modern multibody system dyanmics has made great achievements, however, the numerical solutions are based on the system initial conditions and thus not available for generic dynamic analysis (e.g., stability) and control design. The research on analytical (i.e., closed-form) modeling for complex multibody systems dynamics is still in the early stages. In view of the problems above, this research project endeavors to construct a novel and flexible multibody dynamics modeling approach which is based on the new developments in constrained mechanical system area combined with the distinguishing features of complex multibody systems. The approach propose a cascading and hierarchical way of constructing closed-form dynamics equations for multi-body systems, which can lay a theoretical foundation for virtual prototyping modeling and control design. The modeling approach not only be flexible in handling the closed-form dynamics modeling of complicated multibody systems under ideal constraints, but also can deal with the closed-form modeling of friction force under non-ideal constraints.The project will also devote to applying the approach t

英文关键词： Multi-body system；dynamics；closed-form modeling method；research report；