变结构多体系统动力学建模与仿真

发布时间：2018-08-23 13:22

【摘要】：在机械、航空、航天、兵器、机器人等领域中存在着大量的变结构动力学问题,变结构多体系统动力学日益成为当今力学领域的研究难点与热点之一。变结构多体系统动力学问题最主要的特征就是系统在运动过程中结构会发生突变,即拓扑结构与自由度会发生突变。结构的突变使得传统的多体系统动力学仿真软件在处理这类问题时存在着一定的局限性,无法实现拓扑结构的自动切换。本文针对多体系统变结构问题的特点,将"分路"思想引入到变结构动力学问题中,采用"自由度最大化"法实现了系统结构的"虚拟稳定",进而实现了仿真过程中拓扑结构的自动切换功能,极大地提高了仿真软件的计算效率与连续性。从而使得仿真软件能够实现变结构多体系统动力学的全局仿真。本文主要以变结构火箭发射系统为研究背景,详细描述了火箭发射系统中所遇到的几类变结构问题,建立了变结构火箭发射系统的动力学方程。最后,以某型号火箭发射系统为例进行了动力学仿真。以下几个方面是本论文主要的研究内容:1.研究了变结构多体系统动力学的建模理论。讨论了多体系统中所遇到的变结构问题,通过引入"自由度最大化"和"分路"方法来解决变结构问题。2.以火箭发射系统为主要研究对象,详细阐述了火箭发射系统的发射过程中的不同阶段以及拓扑结构,对火箭发射系统中所遇到的几类变结构问题进行了描述,并建立了变结构火箭发射系统的动力学方程。3.综合上述的理论知识,编制了变结构多体系统动力学仿真软件,以某型号火箭发射系统为研究对象,对发射过程进行了动力学仿真,验证了仿真软件的可靠性和稳定性。
[Abstract]:There are a lot of variable structure dynamics problems in the fields of machinery, aviation, aerospace, weapon, robot and so on. The dynamics of variable structure multi-body system has become one of the difficulties and hotspots in the field of mechanics. The main characteristic of the dynamic problem of variable-structure multi-body system is that the structure of the system will change in the course of motion, that is, the topological structure and the degree of freedom will mutate. Because of the sudden change of structure, the traditional multi-body system dynamics simulation software has some limitations in dealing with this kind of problems, and it is unable to realize the automatic switching of topology structure. In this paper, according to the characteristics of variable structure problem of multi-body system, the idea of "shunt" is introduced into the problem of variable structure dynamics. The "degree of freedom maximization" method is used to realize the "virtual stability" of the system structure, and the automatic switching function of the topology structure in the simulation process is realized, which greatly improves the computational efficiency and continuity of the simulation software. Therefore, the simulation software can realize the global simulation of variable structure multi-body system dynamics. In this paper, based on the research background of variable structure rocket launch system, several kinds of variable structure problems encountered in rocket launch system are described in detail, and the dynamic equations of variable structure rocket launch system are established. Finally, the dynamic simulation of a rocket launch system is carried out. The following are the main contents of this thesis: 1. The modeling theory of variable structure multi-body system dynamics is studied. In this paper, the variable structure problem in multibody system is discussed, and the variable structure problem is solved by introducing the method of "maximization of degrees of freedom" and "shunt". Taking the rocket launch system as the main research object, the different stages and topological structure of the rocket launch system are described in detail, and several kinds of variable structure problems encountered in the rocket launch system are described. The dynamic equation of variable structure rocket launching system is established. Based on the above theoretical knowledge, the dynamic simulation software of variable-structure multi-body system is developed. Taking a certain type of rocket launch system as the research object, the dynamic simulation of the launching process is carried out, and the reliability and stability of the simulation software are verified.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：O313.7

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