DYNAMIC MODELING AND COMPUTATION FOR FLEXIBLE MULTIBODY SYSTEMS BASED ON THE LOCAL FRAME OF LIE GROUP
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摘要: 多柔体系统动力学主要研究由多个具有运动学约束、存在大范围相对运动的柔性部件构成的动力学系统的建模、计算和控制.多柔体系统不仅具有柔体大变形导致的几何非线性,更具有大范围刚体运动引起的几何非线性,其非线性程度远高于计算结构力学所研究的几何非线性问题.本文基于李群局部标架(local frame of Lie group, LFLG),讨论如何发展一套新的多柔体系统动力学建模和计算方法体系, 具体内容包括:基于局部标架的梁、板壳单元,适用于长时间历程计算的多柔体系统碰撞动力学积分算法,结合区域分解技术的大规模多柔体系统动力学并行求解器, 以及若干验证性算例.上述基于李群局部标架的方法体系可在计算中消除刚体运动带来的几何非线性问题,使柔体系统的广义惯性力、广义弹性力及其雅可比矩阵满足刚体运动的不变性,使多柔体系统动力学与大变形结构力学相互统一,有望推动新一代多柔体系统动力学建模和计算软件的发展.Abstract: The main content of the dynamics of flexible multibody systems focuses on the dynamic modeling, computation and control of complex systems composed of flexible components, which are subjected to the relative overall motion and connected by kinematical constraints. Compared with the computational structural mechanics, the multibody dynamics issues have high geometrically nonlinear, which is not only deduced by the large rotation caused from the large deformation of flexible components, but also is deduced by the overall rigid body motion. Under the concept of the local frame of Lie group (LFLG), the topic that how to develop a new modeling and computational method for flexible multibody dynamics is discussed. The major studies of this paper include the following aspects: the modelling methods of beam elements and plate/shell elements based on the LFLG, the long-time integration algorithm for the flexible multibody systems including collision problems, the parallel algorithm for multibody systems based on the domain decomposition method, and several numerical examples to verify the feasibility of the proposed method. The unique feature of the new method can eliminate the geometrically nonlinear of the overall rigid motion for flexible components. Therefore, the generalized inertial forces and internal forces as well as their Jacobian matrices are invariable under the arbitrary rigid body motion. The proposed method can motivate the integration of the modeling method of the flexible multibody dynamics and the computational structural dynamics with large deformation components and is expected to promote the development of the next-generation software of multibody system dynamics.
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