作大范围运动柔性梁的一种碰撞动力学求解方法(大范围转动欧拉伯努利梁及忽略方法碰撞).pdf

作大范围运动柔性梁的一种碰撞动力学求解方法* 1 1 2 段玥晨 章定国 洪嘉振 (1. 南京理工大学理学院 南京 210094 ； 2. 上海交通大学工程力学系 上海 200240) 摘要：研究作大范围运动柔性梁的碰撞动力学问题。针对梁碰撞前、碰撞过程、碰撞后三个阶段，分别建立各阶段的动力学 方程。首先基于柔性多体系统刚柔耦合动力学理论，建立了梁无碰撞时的刚柔耦合动力学方程。结合冲量动量法和接触约束 法提出了一种碰撞动力学求解方法，先以冲量动量法实现运动转换得到协调的碰撞初始条件，再以接触约束法求解碰撞过程。 导出系统的刚柔耦合碰撞动力学方程，给出了接触、分离判据，实现了三个不同阶段的转换与动力学求解。编制仿真软件， 对实例进行动力学仿真，得到了系统不同阶段的动力学响应。研究表明，所提碰撞求解方法可以较方便地用于计算柔性多体 系统的碰撞问题。梁的柔性、大范围运动及碰撞效应相互耦合，碰撞行为对于柔性多体系统碰撞过程和碰撞后的全局动力学 性态均产生了较大的影响。 关键词：大范围运动 柔性多体系统 碰撞 冲量动量法 接触约束法 中图分类号：O313 A Method for Solving the Impact Problem of a Flexible Beam with Large Overall Motion DUAN Yuechen1 ZHANG Dingguo1 HONG Jiazhen2 (1. School of Sciences, Nanjing University of Science and Technology, Nanjing 210094; 2. Department of Engineering Mechanics, Shanghai Jiaotong University, Shanghai 200240) Abstract ：The impact dynamics of a flexible beam with large overall motion is investigated. The dynamic equations in three periods (before, during, and after impact) are respectively established. Based on the rigid-flexible coupling dynamic theory of flexible multibody systems, the dynamic equations of the flexible beam without impact are established. A method for solving the impact dynamics is proposed, combined the impulse-momentum method and the contact constraint method. The impulse-momentum method is used to achieve kinematic transform, and the contact constraint method is used to solve the impact process. The system’s impact dynamic equations are obtained, and the contact/separation criterion is given to realize the kinematic transform and dynamic solution. The simulation program is developed, and the dynamic response in dif