(机电系统动力学)Chpter 2 Vibration formulation-3.pdf

Dynamic analysis and control Dynamic analysis and control of mechatronic systems of mechatronic systems 机电系统动力学分析与控制 Lecturers Lecturers  Chen Xuedong (Prof., 陈学东)  Chen Xuedong (Prof., 陈学东)  Zeng Lizhan (A.P., 曾理湛)  Zeng Lizhan (A.P., 曾理湛)  Jiang Wei (Dr., 姜伟)  Jiang Wei (Dr., 姜伟) E-mail: Jiangw@hust.edu.cn E-mail: Jiangw@hust.edu.cn Phone: Phone: Room No. D207 Room No. D207 Chapter 2 Vibration formulation Chapter 2 Vibration formulation  §1.1 Conventional formulation  §1.1 Conventional formulation  §1.2 Mathematical foundations  §1.2 Mathematical foundations  §1.3 Open-loop formulation  §1.3 Open-loop formulation  §1.4 Closed-loop formulation  §1.4 Closed-loop formulation  §1.5 Sensitivity formulation  §1.5 Sensitivity formulation Chapter 2 Vibration formulation Chapter 2 Vibration formulation  §1.1 Conventional formulation  §1.1 Conventional formulation  §1.2 Mathematical foundations  §1.2 Mathematical foundations  §1.3 Open-loop formulation  §1.3 Open-loop formulation  §1.4 Closed-loop formulation  §1.4 Closed-loop formulation  §1.5 Sensitivity formulation  §1.5 Sensitivity formulation A general multibody system (MBS) A general multibody system (MBS) Spring-damper (SD) Body Joint Description of a multibody system Description of a multibody system  Reference frames  Global reference frame, i.e., inertial frame o-xyz ——Fixed on the ground Description of a multibody system Description of a multibody system  Reference frames  Body reference frame c -xy z ——Fixed on the CM of body B i i Description of a multibody system Descriptio