| 挠性多体系统的一般动力学模型 |
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| 引用本文： | 金梁.挠性多体系统的一般动力学模型[J].航空学报,1989,10(9):501-506. |
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| 作者姓名： | 金梁 |
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| 作者单位： | 北京控制工程研究所 |
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| 摘 要： | 考虑n个互相连结的空间树形挠性多体系统,不妨按照Ho的直接路思想对系统分层标号,并选取体1为系统的主体,所有直接路均是相对体1而言的。如图1所示,选取OExByEzB为地心惯性系,而O0为整个系统的质心,O0x0y0z0为参考坐标系,系O1x1y1z1固连在主体1上,而系OiXiyiZi（2≤i≤n）的原点在体i与其直接内连体的铰结点处,并固连在体i上,铰链点Oi允许有三自由度平动和三自由度转动,为了方便,也将O0和O1点看作两个虚设的铰链点。
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| 关 键 词： | 挠性多体 树形结构 动力学方程 |
| 收稿时间： | 1988-06-03; |
GENERAL DYNAMIC MODELS OF FLEXIBLE MULTIBODY SYSTEM |
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| Beijing Institute of Control Engineering Jin Liang.GENERAL DYNAMIC MODELS OF FLEXIBLE MULTIBODY SYSTEM[J].Acta Aeronautica et Astronautica Sinica,1989,10(9):501-506. |
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| Authors: | Beijing Institute of Control Engineering Jin Liang |
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| Institution: | Beijing Institute of Control Engineering Jin Liang |
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| Abstract: | This paper presents the general dynamic equations of flexible multibody space system. The system topology is restricted to a tree configuration which is defined as an arbitrary set of flexible and rigid bodies connected by hinges characterizing relative translations and rotations of two adjoining bodies. The equations of motion are derived via Lagrange and Newton-Euler method. |
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| Keywords: | flexible multibody tree configuration dynamic equation |
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