多体系统动力学层级式解析建模方法及其虚拟样机技术应用

Virtual prototype technology, which is based on multibody system dynamics theoretically, provides a powerful tool for multibody system dynamics analysis. Numerical solution theory for modern multibody system dyanmics has made great achievements, however, the numerical solutions are based on the system initial conditions and thus not available for generic dynamic analysis (e.g., stability) and control design. The research on analytical (i.e., closed-form) modeling for complex multibody systems dynamics is still in the early stages. In view of the problems above, this research project endeavors to construct a novel and flexible multibody dynamics modeling approach which is based on the new developments in constrained mechanical system area combined with the distinguishing features of complex multibody systems. The approach propose a cascading and hierarchical way of constructing closed-form dynamics equations for multi-body systems, which can lay a theoretical foundation for virtual prototyping modeling and control design. The modeling approach not only be flexible in handling the closed-form dynamics modeling of complicated multibody systems under ideal constraints, but also can deal with the closed-form modeling of friction force under non-ideal constraints.The project will also devote to applying the approach to virtual prototyping closed-from modeling and the control design application based on the closed-form system model.The research provides a novel approach and new ideas for anlytical modeling and control design for multibody systems, which can meet the needs of closed-form model by complex multibody system control design，and make significant contributions to modeling and control technology for complex multibody systems.

虚拟样机技术为多体系统动力学分析提供了有力的工具，其理论基础即为多体系统动力学。现代多体系统动力学数值求解理论得到了很大发展，然而其根据给定的系统初值状态求解得到的系统动力学的数值解不便于一般性的动力学性能分析（如稳定性）和控制器设计。适用于复杂多体系统解析建模的理论研究仍处于起步阶段。本项目针对以上问题，将基于约束机械系统新进展，结合复杂多体系统特点，构建一种新的灵活的多体系统动力学解析建模方法，以层级的方式构建多体系统解析动力学方程，为虚拟样机解析建模和控制设计奠定理论基础。该建模理论既能够灵活处理理想约束复杂多体系统的解析建模问题，也能够处理非理想约束摩擦力的解析建模问题。本项目还将研究该理论的虚拟样机解析建模实现及其控制设计应用。本项目研究为多体系统解析建模与控制设计提供新的思路，对于满足复杂机械多体系统控制对解析模型的需求，促进多体系统动力学建模与控制技术的发展具有重要意义。

多体系统动力学解析建模为多体系统动力学分析、控制设计等提供了极大的便利，有着极大的实际需求。本课题主要基于约束机械系统动力学研究新进展，结合复杂多体系统特点，构建一种新的灵活的多体系统动力学解析建模方法，以层级的方式构建多体系统解析动力学方程，为虚拟样机解析建模和控制设计奠定理论基础。理想约束和非理想约束下多体机械系统动力学建模和非理想约束时机械系统摩擦力建模为动力学建模研究的重要组成部分。该建模理论既能够灵活处理理想约束复杂多体系统的解析建模问题，也能够处理非理想约束摩擦力的解析建模问题。本课题研究架构的基于层级式的多体系统解析建模理论方法具有较好的学术价值和应用价值。课题研究发表了SCI学术论文4篇，EI会议论文4篇以上，申请发明专利9项，其中已授权7项，完成了课题预期研究指标。本报告详细总结了课题研究的理论方法原理、研究进展和项目成果，以供各位同行专家评阅。