含碰撞现象的柔性多体动力学涵盖碰撞前、碰撞中和碰撞后3个不同拓扑的过程，针对这个特点，采用附加接触约束方法可将上述3个过程的动力学方程形式统一．引入碰撞检测机制，实现拓扑模型的自动变化．与传统的罚函数方法不同，以物体间互不嵌入的思想建立附加接触约束，计算碰撞期间的动力学过程．通过对发生多次碰撞问题的仿真，从兼顾计算精度和计算效率的角度，对提出的附加接触约束方法和LS—DYNA罚函数方法进行了对比，改进了LS—DYNA罚函数方法存在的不足．%Based on additional contact constraint method, the form of dynamic equation with and without impact is unified. According to impact detection, automatic change of topological model is realized. Following the principle of no penetration between objects, contact force is calculated. Through the simulation with impact occurred many times, from the view of accuracy and efficiency, the additional contact constraint method and LS-DYNA penalty function method are contrasted.
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