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基于LuGre摩擦模型的接触约束法旋转柔性梁斜碰撞研究

范纪华 谷通顺 王明强 谌宏 陈立威

范纪华, 谷通顺, 王明强, 谌宏, 陈立威. 基于LuGre摩擦模型的接触约束法旋转柔性梁斜碰撞研究[J]. 力学学报, 2021, 53(4): 1156-1169. doi: 10.6052/0459-1879-20-350
引用本文: 范纪华, 谷通顺, 王明强, 谌宏, 陈立威. 基于LuGre摩擦模型的接触约束法旋转柔性梁斜碰撞研究[J]. 力学学报, 2021, 53(4): 1156-1169. doi: 10.6052/0459-1879-20-350
Fan Jihua, Gu Tongshun, Wang Mingqiang, Shen Hong, Chen Liwei. RESEARCH ON OBLIQUE IMPACT OF ROTATING OF FLEXIBLE BEAM BASED ON CONTACT CONSTRAINT METHOD OF LUGRE FRICTION MODEL[J]. Chinese Journal of Theoretical and Applied Mechanics, 2021, 53(4): 1156-1169. doi: 10.6052/0459-1879-20-350
Citation: Fan Jihua, Gu Tongshun, Wang Mingqiang, Shen Hong, Chen Liwei. RESEARCH ON OBLIQUE IMPACT OF ROTATING OF FLEXIBLE BEAM BASED ON CONTACT CONSTRAINT METHOD OF LUGRE FRICTION MODEL[J]. Chinese Journal of Theoretical and Applied Mechanics, 2021, 53(4): 1156-1169. doi: 10.6052/0459-1879-20-350

基于LuGre摩擦模型的接触约束法旋转柔性梁斜碰撞研究

doi: 10.6052/0459-1879-20-350
基金项目: 1)国家自然科学基金青年科学基金(11502098);江苏高校"青蓝工程"项目和江苏科技大学博士科研启动基金(120140003)
详细信息
    作者简介:

    2)范纪华, 副教授, 主要研究方向: 多体系统动力学与控制. E-mail: jihuafan@just.edu.cn

    通讯作者:

    范纪华

  • 中图分类号: O313.7

RESEARCH ON OBLIQUE IMPACT OF ROTATING OF FLEXIBLE BEAM BASED ON CONTACT CONSTRAINT METHOD OF LUGRE FRICTION MODEL

  • 摘要: 基于接触约束法和LuGre摩擦模型对在重力场作用下作大范围旋转运动的柔性梁系统和斜坡发生含摩擦斜碰撞的动力学问题进行研究. 首先运用刚柔耦合的多体系统动力学理论对大范围运动的柔性梁进行离散化和动力学建模, 在碰撞时采用冲量动量法求出跳跃速度, 其次在法向上引入接触约束求解出碰撞力, 在切向上采用LuGre摩擦模型分两种方式求解摩擦力, 第一种是在滑动时摩擦力由摩擦系数和碰撞力计算得出, 黏滞状态下引入切向约束计算拉格朗日乘子反应实际摩擦力, 根据黏滞/滑动切换判断计算出碰撞过程摩擦力(与Coulomb摩擦模型计算摩擦力一致); 第二种根据LuGre摩擦模型摩擦系数和法向碰撞力计算其摩擦力, 从而在碰撞时无需黏滞/滑动切换, 采用相同的摩擦力计算公式. 通过与Coulomb摩擦模型对比发现, LuGre摩擦模型描述碰撞切向摩擦过程更精确, LuGre摩擦模型黏滞时建立约束方程和碰撞采用统一的摩擦力公式这两种建模方式描述的斜碰撞动力学特性没有区别, 进而说明采用法向接触约束和LuGre摩擦模型具有满足碰撞非嵌入情况、避免黏滞/滑动切换、描述摩擦力相对准确的优势.

     

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出版历程
  • 收稿日期:  2020-10-09
  • 刊出日期:  2021-04-10

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