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Multi-body-dynamics-equation solving method based on Bathe integration strategy

A dynamic equation and multi-body dynamics technology, applied in the field of mechanical dynamics, can solve the problems of unstable solution algorithm and low efficiency, and achieve the effect of improving convergence efficiency and efficient solution.

Active Publication Date: 2018-04-20
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0004] The technical problem solved by the present invention is to provide a method for solving multi-body dynamic equations based on the Bathe integral strategy, to solve the problem that the solution algorithm for multi-body system dynamic equations containing closed loops is unstable and inefficient

Method used

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  • Multi-body-dynamics-equation solving method based on Bathe integration strategy
  • Multi-body-dynamics-equation solving method based on Bathe integration strategy
  • Multi-body-dynamics-equation solving method based on Bathe integration strategy

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Embodiment 1

[0076] The method is further described in detail by the following examples. The following is a simulation example of this method. The example is a closed-loop multi-body system problem. The specific description is as follows:

[0077] Here, a closed-loop multi-body system with 3 rigid rods and 4 rotating hinges is selected. The specific structure is as follows figure 2 Shown, the first rotary hinge J 1 Connect the first ground rigid support to the first rigid pole B 1 , the second rotary hinge J 2 Connect the first rigid rod B 1 with the second rigid bar B 2 , the third rotating hinge J 3 Attach the second rigid bar B 2 with the third rigid bar B 3 , the fourth rotating hinge J 4 Connect the third rigid bar B 3 with the second ground rigid support; at the initial moment, the first rigid rod B 1 with the second rigid bar B 2 Horizontal arrangement, third rigid bar B 3 perpendicular to the second rigid bar B 2 Arrangement, third rigid bar B 3 located on the second...

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Abstract

The invention discloses a multi-body-dynamics-equation solving method based on a Bathe integration strategy. The method includes: establishing a corresponding coordinate system in a multi-body dynamics system, and using a relative-coordinate method and a Lagrangian-multiplier method to obtain dynamics equations according to a virtual-power principle; seeking a second derivative of a constraint equation with respect to time to obtain differential-algebraic equations of an index -1, and adding constraint stability terms to form a general form of the dynamics equations with complete constraints;carrying out integration iteration solving on the general form of the dynamics equations with the complete constraints on a time step [t, t+h / 2] to obtain motion parameters of a moment t+h / 2; carryingout integration iteration solving on a time step [t+h / 2, t+h] to obtain the motion parameters of a moment t+h; and carrying out repeated iteration calculation, outputting values of generalized displacement, velocity and acceleration, which are of a system and are changed over time, when calculation time reaches set total simulation time, and thus analyzing motion status of the multi-body process-closed-loop dynamics system in certain time. The method can also achieve better precision in a case of larger integration step length.

Description

technical field [0001] The invention belongs to the field of mechanical dynamics, and in particular relates to a method for solving multi-body dynamic equations based on a Bathe integral strategy. Background technique [0002] A multi-body system is a system composed of multiple objects connected in a certain way. Usually, according to the characteristics of the topology, a multi-body system without a loop is called an open-loop system, and a system with a loop is called a closed-loop system. The system often exists Complex multibody systems with a large number of closed-loop structures. For a multi-body system with a closed-loop structure, since the generalized coordinates of the system are no longer independent at this time, the complexity of modeling and solving increases greatly. [0003] Due to the complexity of the mechanical mechanism and the variability of the system operating environment, the dynamic equations of multi-body systems with closed loops generally have ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/13
CPCG06F17/13
Inventor 钱林方陈光宋吉磊陈龙淼徐亚栋
Owner NANJING UNIV OF SCI & TECH
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