一类含间隙铰的刚柔耦合系统动力学研究
一类含间隙铰的刚柔耦合系统动力学研究<BR><BR>李铁寿 苟兴宇<BR>(北京控制工程研究所，北京 100080)<BR><BR>摘要 研究一类含间隙铰的结构对称的刚柔耦合系统的动力学 建模及仿真问题。在该系统中，柔性附件被简化为一段带有端部集中质量的无质量轻梁。首 先，提出了轻梁双刚度的新概念；基于运动关系的分析，运用达朗贝尔原理导出了该耦合系 统的五自由度动力学方程；然后细致讨论了系统作反对称初值响应运动的情况，指出该响应 中存在一种低频反对称振荡运动和两种高频反对称模态运动。由于两种高频运动的存在，在 数值仿真时，需要选用足够小的步长，才能获得可信的数值结果。仿真表明，系统的低频反 对称振荡频率将随间隙角的出现及增加而降低。<BR><BR>主题词 铰链 间隙 非线性系统 动力学 研究<BR><BR>Study on Dynamics of a Rigid-flexible Coupling<BR>System with Backlash Hinges<BR><BR>Li Tieshou Gou Xingyu<BR>(Beijing Institute of Control Engineering,Beijing 100080)<BR><BR>Abstract Dynamical modeling and simulation of a symmetric rigid- flexible coupling system with hinge backlashes are studied.The rigid beam is sim plified as a thin cantilever with a lumped mass in the free end.A new concept?梑i-rigidity of a thin beam is put forward at first.Then,based on the analyzin g of the kinematic relationship,the dynamical model with five degrees of freedom of the coupling system is derived by using d'Alambert principle.The anti-s ymmetric initial value response of the system is discussed in detail.It shows th at there are one kind of vibration with low frequency and two kinds of vibration s with high frequencies in the response.Because of the vibrations,a small enough step must be used in simulation to obtain reliable numerical solutions.Simulati ons show that the frequency of the former would decrease with the backlash angle s appearing and increasing.<BR><BR>Subject Term Hinge Gap Nonlinear system Dynamics Research<BR> 谢谢，好文章
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