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Dynamics of Flexible Multibody Systems with Non-Holonomic Constraints: A Finite Element Approach

机译:具有非完整约束的柔性多体系统动力学:有限元方法

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摘要

In this article it is shown how non-holonomic constraints can be included in the formulation of the dynamic equations of flexible multibody systems. The equations are given in state space form with the degrees of freedom, their derivatives and the kinematic coordinates as state variables, which circumvents the use of Lagrangian multipliers. With these independent state variables for the system the derivation of the linearized equations of motion is straightforward. The incorporation of the method in a finite element based program for flexible multibody systems is discussed. The method is illustrated by three examples, which show, among other things, how the linearized equations can be used to analysed the stability of a nominal steady motion.
机译:本文展示了如何在柔性多体系统动力学方程的制定中包括非完整约束。这些方程以状态空间形式给出,其中自由度,它们的导数和运动学坐标作为状态变量,从而避免了使用拉格朗日乘子。利用系统的这些独立状态变量,运动线性化方程的推导变得简单。讨论了在柔性多体系统基于有限元的程序中该方法的结合。该方法由三个示例说明,这些示例除其他外,还显示了如何使用线性化方程来分析名义稳定运动的稳定性。

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