| 惯性解耦的多体系统动力学方程 |
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| 引用本文： | 王琪,黄克累.惯性解耦的多体系统动力学方程[J].北京航空航天大学学报,1995,21(3):90-95. |
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| 作者姓名： | 王琪 黄克累 |
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| 作者单位： | 北京航空航天大学应用数理系 |
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| 摘 要： | 对一类含自由－自由弹性梁的多体系统动力学方程进行了研究，利用多体系统的结构特性和运动特性对其动力学方程进行了简化，使惯性质量矩阵为对角形，得到了惯性解耦的多体系统动力学方程，在方程的数值求解时，可提高计算速度和精度，为多体系统动力学的实时仿真提供方便。
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| 关 键 词： | 多体问题 惯量解耦 动力学 实时仿真 |
DYNAMICAL EQUATIONS WITH INERTIA DECOUPLE FOR MULTIBODY SYSTEMS |
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| Wang Qi, Huang Kelei, Zhang Anhou.DYNAMICAL EQUATIONS WITH INERTIA DECOUPLE FOR MULTIBODY SYSTEMS[J].Journal of Beijing University of Aeronautics and Astronautics,1995,21(3):90-95. |
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| Authors: | Wang Qi Huang Kelei Zhang Anhou |
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| Abstract: | A class of dynamical equations for multibody systems with free-free elastic beams are studied. The dynamical equations of inertia decoupled are developed by using of the property of structure and motion of the systems. In the equations. the inertial matrix is diagonal and the calculating speed and precision can be raised. It is easy to simulate dynamics of multibody systems in real-time. |
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| Keywords: | many body problem inertia decoupling dynamics equations real-timesimulation |
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