Unilateral Contact and Dry Friction in Finite Freedom Dynamics
Unilateral Contact and Dry Friction in Finite Freedom Dynamics
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DOI：
10.1007/978-3-7091-2624-0_1
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发表时间：
1988
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影响因子：
--
通讯作者：
J. Moreau
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文献类型：
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作者：
J. Moreau
一种方法，机械系统的动力学与有限数量的自由度，涉及单边约束，开发。在n维线性力和速度空间中，利用凸分析的一些经典概念，但对约束不等式不作凸性假设。速度不应该是时间的可微函数，而只应该具有局部有界变化，因此加速度的作用由所考虑的时间间隔上的n维测量来保持。然后，动力学由测量微分包含控制，它将可能的速度跳跃视为平滑运动。可能的碰撞被描述为软的，因此是耗散的。摩擦考虑到最近提出的表达库仑定律。这些配方的优点是产生数值算法的时间离散化，能够处理，特别是，所产生的单边性和干摩擦的非光滑效应。
An approach to the dynamics of mechanical systems with a finite number of degrees of freedom, involving unilateral constraints, is developed. In the n-dimensional linear spaces of forces and velocities, some classical concepts of Convex Analysis are used, but no convexity assumption is made concerning the constraint inequalities. The velocity is not supposed to be a differentiable function of time, but only to have locally bounded variation, so the role of the acceleration is held by a n-dimensional measure on the considered time interval. Dynamics is then governed by measure differential inclusions, which treat possible velocity jumps on the same footing as smooth motions. Possible collisions are described as soft, thus dissipative. Friction is taken into account under a recently proposed expression of Coulomb’s law. These formulations have the advantage of generating numerical algorithms of time-discretization, able to handle, in particular, the nonsmooth effects arising from unilaterality and from dry friction.