Energetically consistent simulation of simultaneous impacts and contacts in multibody systems with friction
Energetically consistent simulation of simultaneous impacts and contacts in multibody systems with friction
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DOI：
10.1007/s11044-009-9147-5
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发表时间：
2009-03
影响因子：
3.4
通讯作者：
A. Bowling;D. Flickinger;S. Harmeyer
中科院分区：
文献类型：
--
作者：
A. Bowling;D. Flickinger;S. Harmeyer
本文提出了一种方法来处理能量的一致性时，同时考虑碰撞和接触的摩擦模拟系统的互联机构。硬冲击和接触被认为是在冲击表面的变形可以忽略不计。所提出的方法使用了一个离散的代数模型的影响，结合力矩和切向恢复系数（COR），以制定一个一般的影响法律，确定后的影响速度。这个过程取决于冲量动量理论、互补条件、最大耗散原理以及接触力和碰撞后加速度的确定。所提出的方法还使用能量修改COR来随时间直接控制系统的能量分布。关键的结果是，不同的能量配置文件产生不同的结果，因此，能量的一致性应仔细考虑在动态模拟的发展。该方法是说明双摆，被认为是一个基准的情况下，和自行车结构。
This paper presents a methodology for treating energy consistency when considering simultaneous impacts and contacts with friction in the simulation of systems of interconnected bodies. Hard impact and contact is considered where deformation of the impacting surfaces is negligible. The proposed approach uses a discrete algebraic model of impact in conjunction with moment and tangential coefficients of restitution (CORs) to develop a general impact law for determining post-impact velocities. This process depends on impulse–momentum theory, the complementarity conditions, a principle of maximum dissipation, and the determination of contact forces and post-impact accelerations. The proposed methodology also uses an energy-modifying COR to directly control the system’s energy profile over time. The key result is that different energy profiles yield different results and thus energy consistency should be considered carefully in the development of dynamic simulations. The approach is illustrated on a double pendulum, considered to be a benchmark case, and a bicycle structure.