29-多刚体系统动力学 R-W 方法在铰接式工程车.pdf

CAE R W Roberson Wittenburg 3 8 n τ q (q , q ,ΛΛ , q ) 1 2 n RW[1] Aq B ( 1) A (p T ×d +k T ) ⋅m (p T ×d +k T )τ +(p T ) ⋅J ⋅(p T )τ (2) B (p T ×d +k T) ⋅(F g −mu ) +(p T) ⋅(M g −J ⋅σ −ε) +k ⋅F a +p ⋅M a +γ ⋅F e (3) d p k m J T F g M g F a a e ε (ε ,ε ,Λ ,ε )τ M F 1 2 n τ τ τ ε ω ×(J ⋅ω ) ω σ ω 1 −T f 1 (1Κ1) f (f , f ,Λ , f ) i i i i i 0 n n 1 2 n Ω f ω ×Ω j i(j) j i(j ) j j ο ο u a d τ Tτ f d − ×(ω 1 − ) −2 ×ω ω d 0 n n τ a (a , a ,ΛΛ , a ) a r +ω ×z +ω ×(ω ×z ) +2ω ×z + ω ×(ω ×d ) r ω 1 2 n i 0 0 1 0 0 1 0 1 ∑ k k ki 0 0 k 1 B0 ()O0 z 1 O1 B0 τ e τ e e e γ −α S −β ×C S ,C q q A (1) (1)