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首页> 外文会议>ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2007 >ON SELECTING ASSUMED MODES IN A CONTROLLED ARTICULATED FLEXIBLE MULTIBODY DYNAMICS SYSTEM
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ON SELECTING ASSUMED MODES IN A CONTROLLED ARTICULATED FLEXIBLE MULTIBODY DYNAMICS SYSTEM

机译：控制的柔性多体动力学系统中设定模式的选择

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摘要

The modeling and simulation of controlled-articulation flexible multibody dynamic systems often involves the use of approximating functions, or assumed modes, to represent the structural characteristics of the constituent component bodies. However, clear and complete guidance on appropriate component body modeling techniques is lacking. As a result, researchers and applications engineers encounter severe and unexplained numerical problems when simulating such systems. Earlier studies demonstrated these problems, explained their causes, and developed modeling guidelines from the perspective of accuracy, robustness, and simulation efficiency. In this study, the guidelines are tested and confirmed for a controlled-articulation flexible multibody dynamic system. In support of this effort, exact closed-form and numerical solutions are developed for the small elastic motions of a planar, flexible, two-link system in which each link is represented by an Euler-Bernoulli bar in transverse vibration. The inboard link is pinned to the ground, and the outboard link is pinned to the outboard end of the first link in an arbitrary configuration. Articulation is controlled by proportional and proportional/derivative feedback control laws. The exact solutions are "truth models" for the linear characteristics of an analogous non-linear large articulation model in which link deformations are represented by assumed modes. Using a linearized version of the non-linear large-articulation model as an assumed modes testbed, the modeling guidelines are tested against the exact solutions. The numerical results conform with expectation, and the efficacy of the guidelines is successfully confirmed.
机译：受控关节柔性多体动力学系统的建模和仿真通常涉及使用近似函数或假定模式来表示组成零部件的结构特征。但是，缺少关于适当的组件主体建模技术的清晰，完整的指南。结果，研究人员和应用工程师在模拟此类系统时遇到了严重且无法解释的数值问题。早期的研究证明了这些问题，解释了其原因，并从准确性，鲁棒性和仿真效率的角度开发了建模准则。在本研究中，对受控关节柔性多体动力学系统进行了测试和确认。为了支持这一工作，针对平面，柔性双连杆系统的小弹性运动，开发了精确的闭合形式和数值解，其中每个连杆由横向振动中的欧拉-伯努利杆表示。内侧连杆固定在地面上，外侧连杆以任意配置固定在第一连杆的外侧端上。清晰度由比例和比例/微分反馈控制律控制。确切的解决方案是“真实模型”，用于类似非线性大关节模型的线性特征，其中链接变形由假定的模式表示。使用非线性大关节模型的线性化版本作为假定模式测试平台，可以针对确切的解决方案对建模指南进行测试。数值结果符合预期，并成功确认了指南的有效性。

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