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gauss optimization method for the dynamics of unilateral contact of rigid multibody systems

Acta Mechanica Sinica 2021年第3期37卷 494-506,I0003页

作者： Wenli Yao Liusong Yang Mingming Guo Qingdao Key Laboratory for Geomechanics and Offshore Underground Engineering School of ScienceQingdao University of TechnologyQingdao 266520China College of Pipeline and Civil Engineering China University of Petroleum(East China)Qingdao 266520China

The discontinuous dynamical problem of multi-point contact and collision in multi-body system has always been a hot and difficult issue in this *** on the gauss’principle of least constraint,a unified optimization model for multibody system dynamics with multi-point contact and collision is *** paper presents the study of the numerical solution scheme,in which particle swarm optimization method is used to deal with the corresponding optimization *** article also presents the comparison of the gauss optimization method(GOM)and the hybrid linear complementarity method(*** differential algebraic equations(DAEs)and linear complementarity problems(LCP)),commonly used to solve the dynamic contact problem of multibody systems with bilateral *** results illustrate that,the GOM has the same advantage of dynamical modelling with LCP and when the redundant constraint exists,the GOM always has a unique solution and so no additional processing is needed,whereas the corresponding DAE-LCP method may have singular cases with multiple solutions or no *** numerical examples,the GOM is verified to effectively solve the dynamics of multibody systems with redundant unilateral and bilateral constraints without additional redundancy *** GOM can also be applied to the optimal control of systems in the future and combined with the parameter optimization of systems to handle dynamic *** work given provides the dynamics and control of the complex system with a new train of thought and method.

关键词： Contact Collision Redundant constraint gauss principle of least constraint Optimization method

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