杆网系统基于高斯原理的动力学建模
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国家自然科学基金(11372195)


Dynamical modeling of a net system of rods based on gauss′s principle
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    摘要:

    讨论由任意数量弹性细杆组成任意拓扑结构的杆网系统.叙述其基于高斯最小拘束原理的动力学建模方法.其工程背景为航天技术中的可展网架式结构.采用Kirchhoff 模型描述弹性杆的运动,其大变形的幅度可不加限制.导出杆网系统拘束函数的普遍形式及联结铰对杆件的几何约束条件.所述动力学模型可直接应用变分方法确定杆网系统的运动,无需建立和求解动力学微分方程.利用拘束函数的最小值条件从杆件的各种可能运动中确定其真实运动.联结铰的约束条件可在供选择的可能运动中预先给予满足.对于杆件充分柔软的特殊情形,忽略其抗弯和抗扭刚度,但考虑其拉伸变形,则杆网系统转化为由柔索组成的索网系统.以5杆系统为例说明此建模过程.

    Abstract:

    The net system connected by an arbitrary number of rods with arbitrary topologic construction was discussed in this paper. Based on the Gauss’s principle of least constraint, the approach of dynamic modeling for the net system of rods was proposed. The background of the study selects the large deployable structures composed of trusses and meshes in the astronautic engineering. The Kirchhoff′s model of elastic rod was applied to describe the motion of rods, the large deformation of which can be unlimited. The general form of the constraint function for the net system was derived, and the geometric constraint conditions of rods exerted by connected joints were given. The related dynamic model can be used to determine the motion of the net system by the variation method directly without dynamical differential equations. The real motion of the system was obtained through seeking the minimal value of constraint function from different possible motions, in which the joint constraint conditions can be satisfied in advance. As a special case when the rods are flexible enough, neglecting the bending and torsional rigidities and considering the axial deformations, the net system of rods was transferred to a net system connected by flexible cables. Moreover, a net system composed of five rods was taken as an example in the explanation of the modeling process.

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刘延柱.杆网系统基于高斯原理的动力学建模[J].动力学与控制学报,2018,16(4):289~294; Liu Yanzhu. Dynamical modeling of a net system of rods based on gauss′s principle[J]. Journal of Dynamics and Control,2018,16(4):289-294.

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  • 收稿日期:2017-05-04
  • 最后修改日期:2017-05-24
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  • 在线发布日期: 2018-06-27
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