基于广义坐标形式的高斯最小拘束原理的多刚体系统动力学建模
发布时间：2018-09-01 11:37
【摘要】：通过采用动能及广义坐标显式的变分形式的高斯原理,明确了广义坐标形式的高斯拘束中各项的含义,以此建立以笛卡尔广义坐标表达的一般多刚体系统动力学问题的优化模型,并研究利用上述模型列写其他坐标体系下的高斯拘束的方法。采用该方法可将多刚体系统的动力学问题变为求拘束极值的问题,并且只要给出广义笛卡尔坐标与其他广义坐标之间的雅可比关系式,便可方便地得到该坐标系统下的高斯拘束,建模过程简单且具有更强的通用性。采用广义笛卡尔坐标及拉格朗日坐标,对简单刚体的平面运动及定轴转动问题建立动力学优化模型,并验证了该方法的有效性。
[Abstract]:By using Gao Si's principle of explicit variational form of kinetic energy and generalized coordinate, the meaning of each item in the generalized coordinate form of Gao Si constraint is clarified. The optimization model of general multi-rigid system dynamics problem expressed by Cartesian generalized coordinates is established, and the method of using the above model to write Gao Si constraint under other coordinate systems is studied. By using this method, the dynamic problem of a multi-rigid body system can be transformed into a constrained extremum problem, and the Jacobian relation between the generalized Cartesian coordinates and other generalized coordinates can be given only if the Jacobian relation between the generalized Cartesian coordinates and other generalized coordinates is given. Gao Si can be easily obtained under the coordinate system, and the modeling process is simple and more universal. Using the generalized Cartesian coordinates and Lagrange coordinates, a dynamic optimization model for the plane motion and fixed axis rotation of a simple rigid body is established, and the validity of the method is verified.
【作者单位】： 青岛理工大学理学院;
【基金】：国家自然科学基金(11272167,11472145)资助
【分类号】：O313.3
本文编号：2217080
[Abstract]:By using Gao Si's principle of explicit variational form of kinetic energy and generalized coordinate, the meaning of each item in the generalized coordinate form of Gao Si constraint is clarified. The optimization model of general multi-rigid system dynamics problem expressed by Cartesian generalized coordinates is established, and the method of using the above model to write Gao Si constraint under other coordinate systems is studied. By using this method, the dynamic problem of a multi-rigid body system can be transformed into a constrained extremum problem, and the Jacobian relation between the generalized Cartesian coordinates and other generalized coordinates can be given only if the Jacobian relation between the generalized Cartesian coordinates and other generalized coordinates is given. Gao Si can be easily obtained under the coordinate system, and the modeling process is simple and more universal. Using the generalized Cartesian coordinates and Lagrange coordinates, a dynamic optimization model for the plane motion and fixed axis rotation of a simple rigid body is established, and the validity of the method is verified.
【作者单位】： 青岛理工大学理学院;
【基金】：国家自然科学基金(11272167,11472145)资助
【分类号】：O313.3
【相似文献】
相关期刊论文 前10条
1 李俊;;虚位移原理中广义坐标的选择[J];科技资讯;2006年10期
2 刘新芽;以E为广义坐标的电磁场的拉氏泛函[J];自然杂志;1986年08期
3 吴惟敏;虚功原理中的广义坐标选择[J];大学物理;1991年06期
4 齐朝晖,王坤,唐立民;约束多体系统独立广义坐标的数值选取[J];计算力学学报;2000年04期
5 龚德均;关于广义坐标的注记[J];达县师范高等专科学校学报;2003年02期
6 王爱勤,冯振宇;也谈虚位移原理中广义坐标的选择[J];大学物理;2003年08期
7 宋伟忠;;广义坐标下求力学体系约束力的讨论[J];青海师范大学学报(自然科学版);1987年02期
8 周振堂,马晓光;关于广义坐标和虚位移概念的探讨[J];白城师范高等专科学校学报;2002年02期
9 季景兰;对薛志雄一文的讨论[J];力学与实践;1993年04期
10 周靖;;虚功原理中的广义坐标与坐标系的选择[J];淮阴师范学院学报(自然科学版);2006年02期
相关硕士学位论文 前2条
1 杨流松;刚体系统的优化方法数值模拟[D];青岛理工大学;2015年
2 沈艳菲;三阶拉格朗日方程两个形式的研究[D];江西师范大学;2010年
，本文编号：2217080
本文链接：https://www.wllwen.com/kejilunwen/lxlw/2217080.html
