力学与实践 ›› 2005, Vol. 27 ›› Issue (1): 0-0.DOI: 10.6052/1000-0879-2004-096

• 应用研究 •    

多体系统动力学设计灵敏度分析直接微分法

潘振宽 丁洁玉 高磊   

  1. 青岛大学信息工程学院 青岛大学信息工程学院 青岛大学信息工程学院
  • 收稿日期:2004-03-18 修回日期:1900-01-01 出版日期:2005-02-10 发布日期:2005-02-10

DIRECT DIFFERENTIATION METHOD FOR DESIGN SENSITIVITY ANALYSIS OF MULTIBODY SYSTEM DYNAMICS

  • Received:2004-03-18 Revised:1900-01-01 Online:2005-02-10 Published:2005-02-10

摘要: 针对受完整约束的多体系统动力学微分/代数方程数学模型动态最优化设计问题,建立了通 用的目标函数和约束方程,并以此为基础,用直接微分方法系统地推导出了计算设计灵敏度 的通用公式,最后通过平面机械臂模型对理论结果和相应算法进行了验证.

关键词: 多体系统动力学, 微分/代数方程, 灵敏度分析, 直接微分法

Abstract: The direct differentiation method is used for design sensitivity analysis of multibody system dynamics which is described by differential/algebraic equations with holonomic constraints. The results can be used to optimization of multibody system dynamics with generic objective functions and constraints. An example of a planar manipulator with two links is analyzed to test the given methods.

Key words: Multibody system dynamics, Differential/Algebraic equations, Sensitivity Analysis, Differentiation method