多体系统Lagrange方程的算法研究.PDFVIP

22 4 JOURNAL OFNATIONALUNIVERSITY OF DEFENSETECHNOLOGY Vol1 22 No14 2000 : 1001-2486 (2000) 04-0015-04 Lagrange * 黄新生, 黄圳圭, 黄柯棣 ( , 410073) : , , : ; ; : O31313 : A Analysis of Lagrange Equation Computational Method of Multibody System HUANG Xin-sheng, HUANG Zhen-gui, HUANG Ke-di (CollegeofMechatronics Engineering and Automation, NationalUniv. of DefenseTechnology, Changsha 410073, China) Abstract: This paper analyzes il-l conditionedLagrange Equation of multibody system wit hthree degree-o-f freedom rotational joint and presents amixed pseudo coordinate lagrange. smethod based on constraint replacement. Key words: multibody system; computational method; simulation : (0 Hjs P) , ; , [3] ; , , NRT = 3, Pj 1 P H = 0 , , H H H = j 2 j 3 j 1 j 2 j 3 nP , , , , H = nP, , j 3 1 Lagrange Lagrange : A( q) q= B( q, ¤q) q¤+ Q ( 1) q = [ q , q , ,, q ] A( q) , B( q, q)¤N @ N , Q , 1 2 N q ( t) Oj Hj 3 = nP, Hj 1 Hj 2 H + H , H + H , O j 1 j 2 j 1 j 2 j , ( H = j 3 0) , A( q) : q¤= X, X¤= q, ( 1) A( q) O X¤ B( q, X) O X = ( 2) O I ¤q I O q : q, A(