Transfer matrix method for multibody systems(Rui method) and its applications
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摘要
The transfer matrix method for multibody systems, namely the "Rui method", is a new method for studying multibody system dynamics, which avoids the global dynamics equations of the system, keeps high computational speed, and allows highly formalized programming. It has been widely applied to scientific research and key engineering of lots of complex mechanical systems in 52 research directions. The following aspects regarding the transfer matrix method for multibody systems are reviewed systematically in this paper: history, basic principles, formulas, algorithm, automatic deduction theorem of overall transfer equation, visualized simulation and design software, highlights, tendency, and applications in 52 research directions in over 100 key engineering products.
The transfer matrix method for multibody systems, namely the "Rui method", is a new method for studying multibody system dynamics, which avoids the global dynamics equations of the system, keeps high computational speed, and allows highly formalized programming. It has been widely applied to scientific research and key engineering of lots of complex mechanical systems in 52 research directions. The following aspects regarding the transfer matrix method for multibody systems are reviewed systematically in this paper: history, basic principles, formulas, algorithm, automatic deduction theorem of overall transfer equation, visualized simulation and design software, highlights, tendency, and applications in 52 research directions in over 100 key engineering products.
The transfer matrix method for multibody systems, namely the "Rui method", is a new method for studying multibody system dynamics, which avoids the global dynamics equations of the system, keeps high computational speed, and allows highly formalized programming. It has been widely applied to scientific research and key engineering of lots of complex mechanical systems in 52 research directions. The following aspects regarding the transfer matrix method for multibody systems are reviewed systematically in this paper: history, basic principles, formulas, algorithm, automatic deduction theorem of overall transfer equation, visualized simulation and design software, highlights, tendency, and applications in 52 research directions in over 100 key engineering products.
引文
1 Rui X T,Wang X,Zhou Q B,et al.Developments in transfer matrix method for multibody systems(Rui method)and its applications.In:Proceedings of the 14th International Conference on Multibody Systems,Nonlinear Dynamics,and Control.Quebec,2018(This paper was awarded the best paper in this International Conference)
2 Rui X T.Study on launch dynamics of multibody systems.Dissertation for Dcotoral Degree.Nanjing:Nanjing University of Science and Technology,1993
3 Rui X T,Yun L F,Lu Y Q,et al.Transfer Matrix Method of Multibody System and Its Applications(in Chinese).Beijing:Science Press,2008
4 Rui X T,Liu Y X,Yu H L.Launch Dynamics of Tank and Selfpropelled Artillery(in Chinese).Beijing:Science Press,2011
5 Rui X T,Wang G P,Zhang J S.Transfer Matrix Method for Multibody Systems:Theory and Applications.Singapore:John Wiley&Sons,2018
6 Rui X T,Lu Y Q,Wang G P,et al.Simulation and Test Methods of Launch Dynamics of Multiple Launch Rocket System(in Chinese).Beijing:National Defense Industry Press,2003
7 Rui X T.Launch Dynamics of Multibody Systems(in Chinese).Beijing:National Defense Industry Press,1995
8 Rui X T,Yun L F,Wang G P,et al.Direction to Launch Safety of Ammunition(in Chinese).Beijing:National Defense Industry Press,2009
9 Rui X T,Yun L F,Lu Y Q.Augmented eigenvector of multibody system coupled with rigid and elastic bodies and its orthogonality.Acta Armamentarii,2007,28:581-586
10 Rui X T,Wang G P,Lu Y Q,et al.Transfer matrix method for linear multibody system.Multibody Syst Dyn,2008,19:179-207
11 Bestle D,Abbas L K,Rui X T.Recursive eigenvalue search algorithm for transfer matrix method of linear flexible multibody systems.Multibody Syst Dyn,2014,32:429-444
12 Rui X T,He B,Lu Y Q,et al.Discrete time transfer matrix method for multibody system dynamics.Multibody Syst Dyn,2005,14:317-344
13 Rui X T,He B,Rong B,et al.Discrete time transfer matrix method for multi-rigid-flexible-body system moving in plane.Proc IMechE Part K:J Multi-body Dynamics,2009,223:23-42
14 He B,Rui X T,Wang G P.Riccati discrete time transfer matrix method for elastic beam undergoing large overall motion.Multibody Syst Dyn,2007,18:579-598
15 Rui X T,Bestle D,Zhang J S,et al.A new version of transfer matrix method for multibody systems.Multibody Syst Dyn,2016,38:137-156
16 Yun L F,Rui X T,He B,et al.Transfer matrix method for a two dimensional system.Chin J Theor Appl Mech,2006,38:712-720
17 Lu W J,Rui X T,Yun L F,et al.Transfer matrix method for linear controlled multibody system.J Vib Shock,2006,25:25-30
18 Bestle D,Rui X T.Application of the transfer matrix method to control problems.In:Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics.Zagreb,2013.259-268
19 Wang G P,Rui X T,Tang W B.Active vibration control design method based on transfer matrix method for multibody systems.J Eng Mech,2017,143:1-9
20 Rong B,Rui X T,Wang G P,et al.Discrete time transfer matrix method for dynamics of multibody system with real-time control.JSound Vib,2010,329:627-643
21 Rui X T,Zhang J S,Zhou Q B.Automatic deduction theorem of overall transfer equation of multibody system.Adv Mech Eng,2014,6:378047
22 Rui X,Wang G P,Zhang J S,et al.Study on automatic deduction method of overall transfer equation for branch multibody system.Adv Mech Eng,2016,8:1-16
23 Zhou Q B,Rui X T,Tao Y,et al.Deduction method of the overall transfer equation of linear controlled multibody systems.Multibody Syst Dyn,2016,38:263-295
24 Zhou Q B,Rui X T.A representation of the transfer matrix method for linear controlled multibody systems using matrix signal flow graph.In:Proceedings of the 14th International Conference on Multibody Systems,Nonlinear Dynamics,and Control.Quebec,2018
25 He B,Rui X T,Lu Y Q.Hybrid method of discrete time transfer matrix method for multibody system dynamics and finite element method.J Nanjing Univ Sci Tech,2006,30:395-399
26 Rui X T,Gu J J,Zhang J S,et al.Visualized simulation and design method of mechanical system dynamics based on transfer matrix method for multibody systems.Adv Mech Eng,2017,9:168781401771472
27 Zhang J S,Rui X T,Liu F F,et al.Substructuring technique for dynamics analysis of flexible beams with large deformation.JShanghai Jiaotong Univ(Sci),2017,22:562-569
28 Gu J J,Rui X T,Zhang J S,et al.Riccati transfer matrix method for linear tree multibody systems.J Appl Mech,2017,84:011008
29 Krauss R,Okasha M.Discrete-time transfer matrix modeling of flexible robots under feedback control.In:Proceedings of the 2013American Control Conference(ACC).Washington,2013.4104-4109
30 Abbas L K,Zhou Q B,Hendy H,et al.Transfer matrix method for determination of the natural vibration characteristics of elastically coupled launch vehicle boosters.Acta Mech Sin,2015,31:570-580
31 Cramer N,Swei S S M,Cheung K C,et al.Extended discrete-time transfer matrix approach to modeling and decentralized control of lattice-based structures.Struct Control Health Monit,2016,23:1256-1272
32 Zhang X P,S?rensen R,Iversen M R,et al.Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method.Robotics Comput-Integrated Manufacturing,2018,49:181-193
33 Chang Y,Ding J G,Zhuang H,et al.Study on the model of singlepoint diamond fly cuuting machine tool at different rotational speed based on trasfer matrix method for multibody systems.In:Proceedings of the 14th International Conference on Multibody Systems,Nonlinear Dynamics,and Control.Quebec,2018
2 Rui X T.Study on launch dynamics of multibody systems.Dissertation for Dcotoral Degree.Nanjing:Nanjing University of Science and Technology,1993
3 Rui X T,Yun L F,Lu Y Q,et al.Transfer Matrix Method of Multibody System and Its Applications(in Chinese).Beijing:Science Press,2008
4 Rui X T,Liu Y X,Yu H L.Launch Dynamics of Tank and Selfpropelled Artillery(in Chinese).Beijing:Science Press,2011
5 Rui X T,Wang G P,Zhang J S.Transfer Matrix Method for Multibody Systems:Theory and Applications.Singapore:John Wiley&Sons,2018
6 Rui X T,Lu Y Q,Wang G P,et al.Simulation and Test Methods of Launch Dynamics of Multiple Launch Rocket System(in Chinese).Beijing:National Defense Industry Press,2003
7 Rui X T.Launch Dynamics of Multibody Systems(in Chinese).Beijing:National Defense Industry Press,1995
8 Rui X T,Yun L F,Wang G P,et al.Direction to Launch Safety of Ammunition(in Chinese).Beijing:National Defense Industry Press,2009
9 Rui X T,Yun L F,Lu Y Q.Augmented eigenvector of multibody system coupled with rigid and elastic bodies and its orthogonality.Acta Armamentarii,2007,28:581-586
10 Rui X T,Wang G P,Lu Y Q,et al.Transfer matrix method for linear multibody system.Multibody Syst Dyn,2008,19:179-207
11 Bestle D,Abbas L K,Rui X T.Recursive eigenvalue search algorithm for transfer matrix method of linear flexible multibody systems.Multibody Syst Dyn,2014,32:429-444
12 Rui X T,He B,Lu Y Q,et al.Discrete time transfer matrix method for multibody system dynamics.Multibody Syst Dyn,2005,14:317-344
13 Rui X T,He B,Rong B,et al.Discrete time transfer matrix method for multi-rigid-flexible-body system moving in plane.Proc IMechE Part K:J Multi-body Dynamics,2009,223:23-42
14 He B,Rui X T,Wang G P.Riccati discrete time transfer matrix method for elastic beam undergoing large overall motion.Multibody Syst Dyn,2007,18:579-598
15 Rui X T,Bestle D,Zhang J S,et al.A new version of transfer matrix method for multibody systems.Multibody Syst Dyn,2016,38:137-156
16 Yun L F,Rui X T,He B,et al.Transfer matrix method for a two dimensional system.Chin J Theor Appl Mech,2006,38:712-720
17 Lu W J,Rui X T,Yun L F,et al.Transfer matrix method for linear controlled multibody system.J Vib Shock,2006,25:25-30
18 Bestle D,Rui X T.Application of the transfer matrix method to control problems.In:Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics.Zagreb,2013.259-268
19 Wang G P,Rui X T,Tang W B.Active vibration control design method based on transfer matrix method for multibody systems.J Eng Mech,2017,143:1-9
20 Rong B,Rui X T,Wang G P,et al.Discrete time transfer matrix method for dynamics of multibody system with real-time control.JSound Vib,2010,329:627-643
21 Rui X T,Zhang J S,Zhou Q B.Automatic deduction theorem of overall transfer equation of multibody system.Adv Mech Eng,2014,6:378047
22 Rui X,Wang G P,Zhang J S,et al.Study on automatic deduction method of overall transfer equation for branch multibody system.Adv Mech Eng,2016,8:1-16
23 Zhou Q B,Rui X T,Tao Y,et al.Deduction method of the overall transfer equation of linear controlled multibody systems.Multibody Syst Dyn,2016,38:263-295
24 Zhou Q B,Rui X T.A representation of the transfer matrix method for linear controlled multibody systems using matrix signal flow graph.In:Proceedings of the 14th International Conference on Multibody Systems,Nonlinear Dynamics,and Control.Quebec,2018
25 He B,Rui X T,Lu Y Q.Hybrid method of discrete time transfer matrix method for multibody system dynamics and finite element method.J Nanjing Univ Sci Tech,2006,30:395-399
26 Rui X T,Gu J J,Zhang J S,et al.Visualized simulation and design method of mechanical system dynamics based on transfer matrix method for multibody systems.Adv Mech Eng,2017,9:168781401771472
27 Zhang J S,Rui X T,Liu F F,et al.Substructuring technique for dynamics analysis of flexible beams with large deformation.JShanghai Jiaotong Univ(Sci),2017,22:562-569
28 Gu J J,Rui X T,Zhang J S,et al.Riccati transfer matrix method for linear tree multibody systems.J Appl Mech,2017,84:011008
29 Krauss R,Okasha M.Discrete-time transfer matrix modeling of flexible robots under feedback control.In:Proceedings of the 2013American Control Conference(ACC).Washington,2013.4104-4109
30 Abbas L K,Zhou Q B,Hendy H,et al.Transfer matrix method for determination of the natural vibration characteristics of elastically coupled launch vehicle boosters.Acta Mech Sin,2015,31:570-580
31 Cramer N,Swei S S M,Cheung K C,et al.Extended discrete-time transfer matrix approach to modeling and decentralized control of lattice-based structures.Struct Control Health Monit,2016,23:1256-1272
32 Zhang X P,S?rensen R,Iversen M R,et al.Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method.Robotics Comput-Integrated Manufacturing,2018,49:181-193
33 Chang Y,Ding J G,Zhuang H,et al.Study on the model of singlepoint diamond fly cuuting machine tool at different rotational speed based on trasfer matrix method for multibody systems.In:Proceedings of the 14th International Conference on Multibody Systems,Nonlinear Dynamics,and Control.Quebec,2018