复杂多刚柔体系统动力学程式化建模与快速仿真方法

A large number of mechanical systems such as vehicles, ships, aircraft and robots in national economy and defense industry can be regarded as multi-body systems. With the increasing requirement for dynamics performance of mechanical products, accurate and rapid prediction and analysis of dynamics characteristics of complex mechanical systems has become one of the hot and difficult points in the field of mechanics. Aiming at the important practical need of establishing the dynamics model and mathematical model of complex multi-rigid-flexible body system efficiently and carrying out rapid dynamics simulation, this project aims to establish the dynamics model and mathematical model of complex multi-rigid-flexible body system by studying the automatic derivation method of the overall transfer equation of multibody systems in computer based on the transfer matrix method for multibody systems (MSTMM). And the Riccati transfer matrix method for multibody systems is studied to improve the stability of numerical computation and further reduce the order of system matrices, thus expanding the fast computation theory of MSTMM. The MPI+CUDA-based parallel computing algorithm of MSTMM is established to further improve the speed of dynamics computation. A fast visualization simulation platform for complex multi-rigid-flexible body system is established by using computer visualization and open source software technology. This research will provide a new theoretical method and platform for the fast modeling and computation of complex multi-rigid-flexible body system dynamics.

国民经济与国防行业中的大量车辆、舰船、飞行器、机器人等机械系统可归结为多体系统，随着对机械产品动态性能要求的提高，复杂机械系统动力学特性准确快速地预测和分析成为当今力学领域研究的热点和难点之一。本项目针对高效地建立复杂多刚柔体系统动力学模型和数学模型并进行快速动力学仿真的重大现实需求，拟以多体系统传递矩阵法为理论基础，通过研究多体系统总传递方程计算机自动推导方法实现复杂多刚柔体系统动力学模型和数学模型的程式化建立；研究多体系统Riccati传递矩阵法提高数值计算稳定性并进一步降低系统矩阵阶次从而拓展多体系统传递矩阵法快速计算理论；建立基于MPI+CUDA的多体系统传递矩阵法并行计算算法进一步提高动力学计算速度；应用计算机可视化与开源软件技术建立复杂多刚柔体系统动力学可视化快速仿真平台。本项目的研究将为复杂多刚柔体系统动力学的快速建模、计算提供新的理论方法和平台。

国民经济与国防行业中的大量车辆、舰船、飞行器、机器人等机械系统可归结为多体系统，随着对机械产品动态性能要求的提高，复杂机械系统动力学特性准确快速地预测和分析成为当今力学领域研究的热点和难点之一。本项目针对高效地建立复杂多刚柔体系统动力学模型和数学模型并进行快速动力学仿真的重大现实需求，拟以多体系统传递矩阵法为理论基础，通过研究多体系统总传递方程计算机自动推导方法实现复杂多刚柔体系统动力学模型和数学模型的程式化建立；研究多体系统Riccati传递矩阵法提高数值计算稳定性并进一步降低系统矩阵阶次从而拓展多体系统传递矩阵法快速计算理论；建立基于MPI+CUDA的多体系统传递矩阵法并行计算算法进一步提高动力学计算速度；应用计算机可视化与开源软件技术建立复杂多刚柔体系统动力学可视化快速仿真平台。本项目的研究将为复杂多刚柔体系统动力学的快速建模、计算提供新的理论方法和平台。