New method for multibody dynamics based on unknown constraint force

作     者：TIAN Ying JIA YingHong ZHANG Jun 

作者机构：School of AstronauticsBeihang UniversityBeijing 100191China Beijing Institute of Control EngineeringBeijing 100190China National Laboratory of Space Intelligent ControlBeijing 100190China 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2024年第67卷第3期

页      面：791-808页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 

基　　金：supported by the National Key Research and Development Program of China(Grant No. 2018AAA0103003) the National Natural Science Foundation of China(Grant No. 11972056) 

主　　题：multibody system dynamic modelling rigid-flexible coupling unknown constraint force graph theory semi-recursive algorithm 

摘      要：This paper presents a new method for the dynamics of multibody systems based on unknown constraint force. The method can uniformly solve multibody systems with typical configurations, including the system with rigid-flexible coupling, the system in tree topology, and the system with loop constraints. Unlike common methods, the proposed method can model the loop system without “cutting off loop constraints, leading to the exact same modelling process as the tree-like system performs. Based on graph theory, a topological record matrix M_(rec) is proposed to capture the arbitrary system configuration. Moreover, constraint forces are selected as the key variables in semi-recursive framework. With the recursive kinematics relationship between adjacent bodies, the constraint force equation is further assembled to achieve the full-state system solution. The numerical simulations demonstrate the accuracy of the proposed method.