考虑刚柔耦合效应的柔性多体系统碰撞动力学研究
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摘要
本学位论文对柔性多体系统刚柔耦合碰撞动力学的建模方法与数值仿真问题进行了研究。
在航空、航天、车辆、机器人、兵器等工程领域中,存在着大量复杂多体系统之间的接触碰撞问题。碰撞会引起柔性多体系统动力学性态的巨大变化,激发柔性体的高阶模态,影响系统运行的稳定性和精度,因此碰撞已经成为系统分析和控制中不可忽略的重要因素。由于碰撞过程具有持续时间短、作用强度大、强非线性、高度耦合、数值计算困难等复杂特性,使得对柔性多体系统碰撞动力学问题的研究具有很大难度。到目前为止,对柔性多体系统碰撞问题的研究还远未成熟,柔性多体系统刚柔耦合碰撞动力学问题已经成为多体系统动力学领域的研究难点和热点之一
本文基于柔性多体系统刚柔耦合动力学理论和碰撞动力学建模方法,对含碰撞的柔性多体系统全局刚柔耦合动力学问题进行了建模理论研究,并对其进行了数值仿真。本文的具体研究工作和成果主要有：
第一,对多体系统动力学的研究现状和柔性多体系统碰撞动力学的研究进展进行了回顾和综述,提出了本文的研究目标和主要研究内容。
第二,研究了作大范围运动柔性梁的碰撞动力学建模方法。基于柔性多体系统刚柔耦合动力学理论,建立了柔性梁无碰撞时的刚柔耦合动力学方程。分别采用基于广义冲量-动量方程和恢复系数方程的冲量-动量法、基于非线性弹簧阻尼模型和弹塑性接触模型的连续接触力法、以及基于碰撞过程运动学约束关系的接触约束法等三类碰撞动力学求解方法推导出了系统刚柔耦合碰撞动力学方程,并分别给出了接触、分离判据,实现系统在碰撞前、碰撞过程、碰撞后各阶段的动力学转换与求解。
第三,在理论建模方法的基础上,编制动力学仿真软件,对作大范围运动柔性梁的碰撞问题进行了动力学仿真。给出系统全局动力学的仿真流程,分别使用冲量-动量法、连续接触力法、接触约束法等三类碰撞动力学求解方法对系统进行了碰撞动力学仿真,详细分析了全局过程中系统的动力学响应,验证了碰撞动力学求解方法的准确性,并对不同碰撞求解方法的结果进行多方面的对比,综合比较了各类碰撞动力学求解方法的特点、优势、缺陷和适用范围等。研究表明,碰撞过程中系统的动力学性态变化剧烈,大范围运动、小变形运动与碰撞效应相互耦合,碰撞对于柔性多体系统碰撞过程和碰撞后的全局动力学行为均产生了较大的影响。
第四,对由多根柔性杆件构成的空间多杆链式柔性多体系统刚柔耦合碰撞动力学的建模方法和数值仿真进行了研究。基于刚柔耦合动力学理论,全面考虑杆件的拉压、弯曲、扭转变形,采用递推Lagrange动力学建模方法,建立了多杆柔性多体系统的刚柔耦合动力学方程。分别使用冲量-动量法、连续接触力法和接触约束法等三类碰撞动力学求解方法,推导出了各自的碰撞动力学方程。同时给出了几个具体的碰撞动力学仿真算例,验证了动力学建模方法的准确性,给出了各自的动力学响应结果,并进行了不同方法之间的分析和对比。
第五,基于多杆柔性多体系统刚柔耦合碰撞动力学建模理论,提出了一种柔性多体系统碰撞问题的分区处理方法。将一个柔性多体系统分区为碰撞局部区域和远离碰撞区域,两个区域通过一定的边界条件相连接,并推导出分区后的系统刚柔耦合动力学方程。提出了一种局部冲量法以确定碰撞初始条件,既满足了添加接触约束的运动协调条件,又符合了碰撞不是瞬时作用到整个柔性体的实际物理情况。基于接触约束法推导出系统分区后的刚柔耦合碰撞动力学方程和具体求解方法,并给出了几个具体的碰撞动力学仿真算例,验证了方法的可行性。
最后,对本文的主要研究工作、成果以及创新点进行了总结,并对今后进一步研究方向进行了展望。
In this dissertation, the dynamic modeling theory and numerical simulation for the rigid-flexible coupling impact dynamics of flexible multibody systems are researched.
In the particular engineering fields of aviation, aerospace, vehicles, robots, and weapons, there are a lot of contact/impact problems between complex multibody systems. Impact will cause tremendous changes in the dynamical behavior of flexible multibody systems, excite high-order modes of flexible bodies, and affect the operation stability and accuracy of the system. Therefore, impact has become an important factor that cannot be ignored in system analysis and control. Because of the short duration, large intensity, strong nonlinearity, highly coupling, and numerical difficulties of the impact process, the research on flexible multibody impact dynamics has great difficulties. By far, the research is far from maturation. The rigid-flexible coupling impact dynamics of flexible multibody systems has become one of the most challenging research topics in the field of multibody system dynamics.
Based on the rigid-flexible coupling dynamic theory of flexible multibody system and the impact dynamic modeling approach, the research on the dynamic modeling theory and numerical simulation for the global rigid-flexible coupling dynamics of flexible multibody systems with impact is presented in this dissertation. Some research work and achievements are as follows:
A review of past and recent developments in the multibody system dynamics and the impact dynamics of flexible multibody systems is presented, and the research objectives and the main content of this dissertation are put forward.
The impact dynamic modeling theory for a flexible beam with large overall motion is studied. The system's rigid-flexible coupling dynamic equations without impact are established. The impulse-momentum method, the continuous contact force method, and the contact constraint method are selected to be the impact dynamic approach. The system's rigid-flexible coupling impact dynamic equations are derived, and the contact/separation criterion is presented. The dynamic transformation and solution are achieved between the impact process and the impact-free process.
On the basis of the dynamic modeling theory, the dynamic simulation software for the global dynamics of a flexible beam with large overall motion is developed, and the simulation procedure is given. The impact dynamic simulation examples of the system are presented by using the impulse-momentum method, the continuous contact force method, and the contact constraint method. The dynamic response of the system in the global process is analyzed and contrasted. The characteristics, advantages, defects and application scope of the various impact dynamic approach are compared. Studies shows that the system's dynamic behaviors change dramatically in the impact process, and the effects of the large overall motion, the small deformation motion and the impact are coupled. The impact makes great effect on the system's global dynamics during and after impact.
The dynamic modeling theory and numerical simulation for the rigid-flexible coupling impact dynamics of multi-link flexible multibody system are studied. The axial, bending, and torsional deformation are all considered. Based on the rigid-flexible coupling theory, the rigid-flexible coupling dynamic equations of the system are proposed, using the recursive Lagrangian dynamic modeling approach. On the use of the impulse-momentum method, the continuous contact force method, and the contact constraint method, the system's impact dynamic equations are derived. The impact dynamic simulation examples are given to verify the dynamic modeling theory. The dynamic response using various impact dynamic approach is analyzed and contrasted.
A partition method for the impact dynamics of flexible multibody system is proposed, based on the rigid-flexible coupling impact dynamic theory for flexible multibody system. The flexible multibody system is divided into the local impact region and the region away from impact, and the two regions are connected by certain boundary conditions. A local impulse method for establishing the initial impact conditions is proposed, which meets the compatibility conditions for contact constraints and the actual physical situation of the flexible bodies'impact process. The system's rigid-flexible coupling impact dynamic equations are derived based on the contact constraint method. The solving algorithm and several impact dynamic simulation examples are given.
Finally, the main research work, achievements and innovations of this dissertation are summarized, and the prospect for further research orientation is presented.
在航空、航天、车辆、机器人、兵器等工程领域中,存在着大量复杂多体系统之间的接触碰撞问题。碰撞会引起柔性多体系统动力学性态的巨大变化,激发柔性体的高阶模态,影响系统运行的稳定性和精度,因此碰撞已经成为系统分析和控制中不可忽略的重要因素。由于碰撞过程具有持续时间短、作用强度大、强非线性、高度耦合、数值计算困难等复杂特性,使得对柔性多体系统碰撞动力学问题的研究具有很大难度。到目前为止,对柔性多体系统碰撞问题的研究还远未成熟,柔性多体系统刚柔耦合碰撞动力学问题已经成为多体系统动力学领域的研究难点和热点之一
本文基于柔性多体系统刚柔耦合动力学理论和碰撞动力学建模方法,对含碰撞的柔性多体系统全局刚柔耦合动力学问题进行了建模理论研究,并对其进行了数值仿真。本文的具体研究工作和成果主要有：
第一,对多体系统动力学的研究现状和柔性多体系统碰撞动力学的研究进展进行了回顾和综述,提出了本文的研究目标和主要研究内容。
第二,研究了作大范围运动柔性梁的碰撞动力学建模方法。基于柔性多体系统刚柔耦合动力学理论,建立了柔性梁无碰撞时的刚柔耦合动力学方程。分别采用基于广义冲量-动量方程和恢复系数方程的冲量-动量法、基于非线性弹簧阻尼模型和弹塑性接触模型的连续接触力法、以及基于碰撞过程运动学约束关系的接触约束法等三类碰撞动力学求解方法推导出了系统刚柔耦合碰撞动力学方程,并分别给出了接触、分离判据,实现系统在碰撞前、碰撞过程、碰撞后各阶段的动力学转换与求解。
第三,在理论建模方法的基础上,编制动力学仿真软件,对作大范围运动柔性梁的碰撞问题进行了动力学仿真。给出系统全局动力学的仿真流程,分别使用冲量-动量法、连续接触力法、接触约束法等三类碰撞动力学求解方法对系统进行了碰撞动力学仿真,详细分析了全局过程中系统的动力学响应,验证了碰撞动力学求解方法的准确性,并对不同碰撞求解方法的结果进行多方面的对比,综合比较了各类碰撞动力学求解方法的特点、优势、缺陷和适用范围等。研究表明,碰撞过程中系统的动力学性态变化剧烈,大范围运动、小变形运动与碰撞效应相互耦合,碰撞对于柔性多体系统碰撞过程和碰撞后的全局动力学行为均产生了较大的影响。
第四,对由多根柔性杆件构成的空间多杆链式柔性多体系统刚柔耦合碰撞动力学的建模方法和数值仿真进行了研究。基于刚柔耦合动力学理论,全面考虑杆件的拉压、弯曲、扭转变形,采用递推Lagrange动力学建模方法,建立了多杆柔性多体系统的刚柔耦合动力学方程。分别使用冲量-动量法、连续接触力法和接触约束法等三类碰撞动力学求解方法,推导出了各自的碰撞动力学方程。同时给出了几个具体的碰撞动力学仿真算例,验证了动力学建模方法的准确性,给出了各自的动力学响应结果,并进行了不同方法之间的分析和对比。
第五,基于多杆柔性多体系统刚柔耦合碰撞动力学建模理论,提出了一种柔性多体系统碰撞问题的分区处理方法。将一个柔性多体系统分区为碰撞局部区域和远离碰撞区域,两个区域通过一定的边界条件相连接,并推导出分区后的系统刚柔耦合动力学方程。提出了一种局部冲量法以确定碰撞初始条件,既满足了添加接触约束的运动协调条件,又符合了碰撞不是瞬时作用到整个柔性体的实际物理情况。基于接触约束法推导出系统分区后的刚柔耦合碰撞动力学方程和具体求解方法,并给出了几个具体的碰撞动力学仿真算例,验证了方法的可行性。
最后,对本文的主要研究工作、成果以及创新点进行了总结,并对今后进一步研究方向进行了展望。
In this dissertation, the dynamic modeling theory and numerical simulation for the rigid-flexible coupling impact dynamics of flexible multibody systems are researched.
In the particular engineering fields of aviation, aerospace, vehicles, robots, and weapons, there are a lot of contact/impact problems between complex multibody systems. Impact will cause tremendous changes in the dynamical behavior of flexible multibody systems, excite high-order modes of flexible bodies, and affect the operation stability and accuracy of the system. Therefore, impact has become an important factor that cannot be ignored in system analysis and control. Because of the short duration, large intensity, strong nonlinearity, highly coupling, and numerical difficulties of the impact process, the research on flexible multibody impact dynamics has great difficulties. By far, the research is far from maturation. The rigid-flexible coupling impact dynamics of flexible multibody systems has become one of the most challenging research topics in the field of multibody system dynamics.
Based on the rigid-flexible coupling dynamic theory of flexible multibody system and the impact dynamic modeling approach, the research on the dynamic modeling theory and numerical simulation for the global rigid-flexible coupling dynamics of flexible multibody systems with impact is presented in this dissertation. Some research work and achievements are as follows:
A review of past and recent developments in the multibody system dynamics and the impact dynamics of flexible multibody systems is presented, and the research objectives and the main content of this dissertation are put forward.
The impact dynamic modeling theory for a flexible beam with large overall motion is studied. The system's rigid-flexible coupling dynamic equations without impact are established. The impulse-momentum method, the continuous contact force method, and the contact constraint method are selected to be the impact dynamic approach. The system's rigid-flexible coupling impact dynamic equations are derived, and the contact/separation criterion is presented. The dynamic transformation and solution are achieved between the impact process and the impact-free process.
On the basis of the dynamic modeling theory, the dynamic simulation software for the global dynamics of a flexible beam with large overall motion is developed, and the simulation procedure is given. The impact dynamic simulation examples of the system are presented by using the impulse-momentum method, the continuous contact force method, and the contact constraint method. The dynamic response of the system in the global process is analyzed and contrasted. The characteristics, advantages, defects and application scope of the various impact dynamic approach are compared. Studies shows that the system's dynamic behaviors change dramatically in the impact process, and the effects of the large overall motion, the small deformation motion and the impact are coupled. The impact makes great effect on the system's global dynamics during and after impact.
The dynamic modeling theory and numerical simulation for the rigid-flexible coupling impact dynamics of multi-link flexible multibody system are studied. The axial, bending, and torsional deformation are all considered. Based on the rigid-flexible coupling theory, the rigid-flexible coupling dynamic equations of the system are proposed, using the recursive Lagrangian dynamic modeling approach. On the use of the impulse-momentum method, the continuous contact force method, and the contact constraint method, the system's impact dynamic equations are derived. The impact dynamic simulation examples are given to verify the dynamic modeling theory. The dynamic response using various impact dynamic approach is analyzed and contrasted.
A partition method for the impact dynamics of flexible multibody system is proposed, based on the rigid-flexible coupling impact dynamic theory for flexible multibody system. The flexible multibody system is divided into the local impact region and the region away from impact, and the two regions are connected by certain boundary conditions. A local impulse method for establishing the initial impact conditions is proposed, which meets the compatibility conditions for contact constraints and the actual physical situation of the flexible bodies'impact process. The system's rigid-flexible coupling impact dynamic equations are derived based on the contact constraint method. The solving algorithm and several impact dynamic simulation examples are given.
Finally, the main research work, achievements and innovations of this dissertation are summarized, and the prospect for further research orientation is presented.
引文
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