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首页> 外文期刊>IEEE Transactions on Aerospace and Electronic Systems >Dynamic modeling of flexible multibody structures
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Dynamic modeling of flexible multibody structures

机译：柔性多体结构的动态建模

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摘要

This work is primarily concerned with the development of a mathematical formulation capable of treating the problems of maneuvering and control of flexible multibody structures. The analytical formulation is based upon equations of motion in terms of quasi-coordinates derived for each substructure independently. The individual substructures are made to act as a single structure by means of a consistent kinematical synthesis. In recognition of smaller elastic motions, a perturbation approach is developed whereby the rigid-body maneuvering of the system defines the zero-order kinematical dynamics, while the elastic motions and perturbations from the rigid-body maneuvering define the first-order kinematical synthesis. As a numerical example, the Planar Articulating Controls Experimental (PACE) test article is maneuvered according to a bang-bang control law by means of torque applied to the shoulder and the elbow. The numerical simulation shows a close match with the detailed modal survey.
机译：这项工作主要涉及能够解决柔性多体结构的操纵和控制问题的数学公式的开发。分析公式是基于运动方程式的，该方程式是针对每个子结构独立导出的准坐标。通过一致的运动学综合，使各个子结构充当单个结构。考虑到较小的弹性运动，开发了一种扰动方法，系统的刚体操纵定义了零阶运动学动力学，而刚体操纵的弹性运动和扰动则定义了第一阶运动学综合。作为一个数值示例，根据上下控制定律，通过施加到肩膀和肘部的扭矩来操纵平面关节控制实验（PACE）测试物品。数值模拟显示了与详细模态调查的紧密匹配。

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