一种新的辊轴型摩擦摆隔振系统运动微分方程的推导

应用多体动力学理论研究了一种新的辊轴型摩擦摆隔振系统。基于该系统的运动学规律，将其简化为一个单自由度多体系统。应用非惯性系中微分形式的质点系相对动能定理，推导出该系统的非线性运动微分方程。通过讨论与小角位移无阻尼情形对应的线性无阻尼自由振动微分方程，得到了相应的固有频率，与实验结果一致。直接求解该运动方程可有效准确地研究摩擦摆隔振系统的动力学行为，并给包含该系统的半主动控制的仿真和实现带来便利。

EQUATION OF MOTION FOR NOVEL FRICTION PENDULUM SYSTEM WITH DUAL ROLLERS

A novel friction pendulum system (FPS) with dual rollers is studied based on the multibody dynamics theory. By analyzing kinematic characteristics of the system, it is reduced to a one degree-of-freedom system.Then the equation of motion for the system is analytically derived by applying the theorem of the relative kinetic energy for a system of particles in differential form in the non-inertial reference system described as a nonlinear differential equation. In the case of the small angular displacement, the natural frequency of the corresponding undamped linear system is obtained, which is consistent with the experimental observation. The derived equation is useful for the study of dynamic characteristics of novel FPS, and its solution directly expedites the simulation of the system in a control loop, and further facilitates the semi-active control process including novel FPS.