树形多体系统动力学约束力算法

发布时间：2018-01-20 08:58

本文关键词： 约束力算法多体系统动力学树形拓扑结构串行化计算　出处：《力学学报》2016年01期 　论文类型：期刊论文

【摘要】：多体系统高效动力学算法一直是多体系统动力学的重要研究方向.近年来,众多高效算法虽然在提高解算效率方面取得了一定研究成果,但大多无法直接给出多体系统的显式动力学方程或解算系统约束力.基于以上问题,研究了适用于任意树形多体系统动力学解算的约束力算法(constraint force algorithm,CFA)及其串行化应用.约束力算法可在解算多体系统动力学的过程中对系统约束力进行求解,该算法串行化后计算量仅与自由度成线性关系.通过分析树形多体系统中任意节点处的动力学、运动学递推关系并讨论系统方程的组集方法,将仅适用于链状系统的算法推广至任意树形系统,并给出了其串行化应用方法以提高算法效率.在数值仿真中,将所提算法与递推算法进行对比,验证了所提出的约束力算法的准确性;此外,通过对比4种不同算法在相同工作环境下解算同一模型时的处理器运行时间,证实了串行化约束力算法的高效性.
[Abstract]:Efficient dynamic algorithms for multi-body systems have been an important research direction of multi-body systems. In recent years, many efficient algorithms have made some achievements in improving the efficiency of solution. But most of them can not directly give the explicit dynamic equation of multi-body system or solve the system binding force. In this paper, the constraint force algorithm is studied, which is suitable for the dynamic solution of any tree multi-body system. CFAs and its serialization applications. The binding algorithm can be used to solve the system binding force in the process of solving the dynamics of multi-body systems. The computational complexity of the algorithm is only linear with the degree of freedom after serialization. By analyzing the dynamics of any node in the tree multi-body system, the kinematics recursive relation and the method of grouping the equations of the system are discussed. The algorithm suitable for chain system is extended to any tree system, and its serialization application method is given to improve the efficiency of the algorithm. In numerical simulation, the proposed algorithm is compared with the recursive algorithm. The accuracy of the proposed binding algorithm is verified. In addition, the high efficiency of the serialization binding algorithm is proved by comparing the processor running time of four different algorithms in the same working environment to solve the same model.
【作者单位】：北京理工大学宇航学院;
【基金】：国家自然科学基金(11502018) 中国博士后科学基金(2015M570942)资助项目
【分类号】：O313.7
【正文快照】： 2)张景瑞,教授,主要研究方向:航天器动力学与控制.E-mail:zhangjingrui@bit.edu.cn引用格式:刘菲,胡权,张景瑞.树形多体系统动力学约束力算法.力学学报,2016,48(1):201-212Liu Fei,Hu Quan,Zhang Jingrui.Constraint force algorithm for tree-like mulitbody system dynamics

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