摘要
提出了多体系统动力学微分／代数方程组初值问题的一类编并数值积分方法．首先通过矩阵正交分解法对增广系统转化为非超定系统，然后用Ｔａｙｌｏｒ展开法将其改写为可交替迭代的格式，并用Ｎｅｗｔｏｎ迭代与差分修正求得系统响应．文末通过对平面二连杆操作手仿真验证了算法的有效性．
A new coorolinate reduction method for solving the differential/algebtaic equationsof motion of multi-body systems is presented. The augemented equations are transformed to Unoverdeterimined systems by using matrix decomposition method. Then by using the Taylor expansion, Newton iteration and modified difference methods, the authors obtain the responses of the system. Finally a numerical example of a two link manipulator is prsesnted.
出处
《纺织高校基础科学学报》
CAS
1995年第3期234-239,共6页
Basic Sciences Journal of Textile Universities
基金
博士点基金
关键词
多体系统动力学
缩并算法
微分/代数
方程组
Dynamics of Multibody systems,Differential/Algebraic Equations, Coordinate Reduction.
