接触力模型对含间隙铰接副多体系统分析的影响
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摘要
为研究接触力模型对含间隙铰接副多体系统动力学分析结果的影响,分析了不同接触力模型中阻尼系数和耗散能的计算方法及其优缺点,并以单球碰撞为例对比分析了各模型耗散能的大小。在此基础上,以含间隙铰接副曲柄滑块机构为例,研究了不同接触力模型对多体系统动力学计算的效率、稳定性及结果的影响。计算结果表明:接触力模型中耗散能的增加可以使多体系统动力学计算结果更快趋于稳定;选取适当的接触力模型可改善动力学方程的求解效率及结果稳定性。针对不同恢复系数,从稳定性、计算效率及适用范围三方面考虑,得出了相应的更具优势的接触力模型。
The features and methods of calculating damping coefficients and dissipation energy in different contact force models are analyzed to study the influences of the existing contact force models for dynamic analysis of multibody systems involving joints with clearance.The dissipation energies of different models are compared based on a single ball collision system.On the basis of this analysis,a slider crank mechanism is used to study influences of different contact force models on efficiency,stability and result of computation for multibody system dynamics.Results show that the increase of dissipation energy in a contact force model accelerates the stability of dynamic results of multibody system,and an appropriately selected contact force model can improve the computation efficiency and stability of the dynamic system.More dominant contact force models for different restitution coefficients are obtained by considering stability,efficiency of computation,and applicability.
The features and methods of calculating damping coefficients and dissipation energy in different contact force models are analyzed to study the influences of the existing contact force models for dynamic analysis of multibody systems involving joints with clearance.The dissipation energies of different models are compared based on a single ball collision system.On the basis of this analysis,a slider crank mechanism is used to study influences of different contact force models on efficiency,stability and result of computation for multibody system dynamics.Results show that the increase of dissipation energy in a contact force model accelerates the stability of dynamic results of multibody system,and an appropriately selected contact force model can improve the computation efficiency and stability of the dynamic system.More dominant contact force models for different restitution coefficients are obtained by considering stability,efficiency of computation,and applicability.
引文
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[9]李培.基于动力学与摩擦学耦合的含间隙铰接副多体系统研究[D].西安:西安交通大学,2014:45-46.
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[11]JOHNSON K L.Contact mechanics[M].Cambridge,UK:Cambridge University Press,1987:20-23.
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[16]LANKARANI H M,NIKRAVESH P E.A contact force model with hysteresis damping for impact analysis of multibody systems[J].Journal of Mechanical Design,1990,112(3):369-376.
[17]LANKARANI H M,NIKRAVESH P E.Continuous contact force models for impact analysis in multibody systems[J].Nonlinear Dynamics,1994,5(2):193-207.
[18]GONTHIER Y,MCPHEE J,LANGE C,et al.Aregularized contact model with asymmetric damping and dwell-time dependent friction[J].Multibody System Dynamics,2004,11(3):209-233.
[19]秦志英,陆启韶.基于恢复系数的碰撞过程模型分析[J].动力学与控制学报,2006,4(4):294-298.QIN Zhiying,LU Qishao.Analysis of impact process based on restitution coefficient[J].Journal of Dynamics and Control,2006,4(4):294-298.
[2]朱爱斌,何胜利,邹超,等.考虑接触刚度的含间隙铰接副动态磨损分析[J].西安交通大学学报,2016,50(5):12-18.ZHU Aibin,HE Shengli,ZOU Chao,et al.Dynamic wear analysis of clearance joint considering contact stiffness[J].Journal of Xi’an Jiaotong University,2016,50(5):12-18.
[3]BAI Zhengfeng,ZHAO Yang.A hybrid contact force model of revolute joint with clearance for planar mechanical systems[J].International Journal of NonLinear Mechanics,2013,48:15-36.
[4]FLORES P,MACHADO M,SILVA M T,et al.On the continuous contact force models for soft materials in multibody dynamics[J].Multibody System Dynamics,2011,25:357-375.
[5]MACHADO M,MOREIRA P,FLORES P,et al.Compliant contact force models in multibody dynamics:evolution of the Hertz contact theory[J].Mechanism&Machine Theory,2012,53(7):99-121.
[6]阎绍泽,向吴维凯,黄铁球.计及间隙的运动副和机械系统动力学的研究进展[J].北京大学学报(自然科学版),2016,52(4):741-755.YAN Shaoze,XIANG Wuweikai,HUANG Tieqiu.Advances in modeling of clearance joints and dynamics of mechanical systems with clearances[J].Acta Scientiarum Naturalium Universitatis Pekinensis,2016,52(4):741-755.
[7]王庚祥,刘宏昭.多体系统动力学中关节效应模型的研究进展[J].力学学报,2015,47(1):31-50.WANG Gengxiang,LIU Hongzhao.Research progress of joint effects model in multibody system dynamics[J].Chinese Journal of Theoretical and Applied Mechanics,2015,47(1):31-50.
[8]王国庆,刘宏昭.含间隙内燃机曲柄滑块机构动力学研究[J].农业机械学报,2001,32(6):5-7.WANG Guoqing,LIU Hongzhao.Dynamic response of crank-rod of an IC engine with clearance[J].Transactions of the Chinese Society for Agricultural Machinery,2001,32(6):5-7.
[9]李培.基于动力学与摩擦学耦合的含间隙铰接副多体系统研究[D].西安:西安交通大学,2014:45-46.
[10]LIU Caishan,ZHANG Ke,YANG Rei.The FEManalysis and approximate model for cylindrical joints with clearances[J].Mechanism and Machine Theory,2007,42(2):183-197.
[11]JOHNSON K L.Contact mechanics[M].Cambridge,UK:Cambridge University Press,1987:20-23.
[12]ZUKAS J A,NICHOLAS T,SWIFT H F,et al.Impact dynamics[M].New York,USA:John Wiley and Sons,1982:382-384.
[13]HUNT K H,CROSSLEY F R E.Coefficient of restitution interpreted as damping in vibroimpact[J].Journal of Applied Mechanics,1975,42(2):440-445.
[14]HERBERT R G,MCWHANNELL D C.Shape and frequency composition of pulses from an impact pair[J].Journal of Engineering for Industry,1977,99(3):663-671.
[15]LEE T W,WANG A C.On the dynamics of intermittent-motion mechanisms:part 1 Dynamic model and response[J].Journal of Mechanisms,Transmissions,and Automation in Design,1983,105(3):534-540.
[16]LANKARANI H M,NIKRAVESH P E.A contact force model with hysteresis damping for impact analysis of multibody systems[J].Journal of Mechanical Design,1990,112(3):369-376.
[17]LANKARANI H M,NIKRAVESH P E.Continuous contact force models for impact analysis in multibody systems[J].Nonlinear Dynamics,1994,5(2):193-207.
[18]GONTHIER Y,MCPHEE J,LANGE C,et al.Aregularized contact model with asymmetric damping and dwell-time dependent friction[J].Multibody System Dynamics,2004,11(3):209-233.
[19]秦志英,陆启韶.基于恢复系数的碰撞过程模型分析[J].动力学与控制学报,2006,4(4):294-298.QIN Zhiying,LU Qishao.Analysis of impact process based on restitution coefficient[J].Journal of Dynamics and Control,2006,4(4):294-298.