First by using the first kind of Lagrange's equations,this paper presented the dynamical equations of multibody system with friction constraints,and the generalized forces of friction forces were described in the matrix form.Then by using the Baumgarte's method and the augmentation approach,the differential-algebraic equations were converted into the matrix form of differential equation,which can improve the calculating efficiency.Finally the numerical results proved the method to be effective.
参考文献
相似文献
引证文献
引用本文
王剑锋,王棋.含干摩擦多体系统Lagrange方程的数值算法[J].动力学与控制学报,2004,2(2):58~61; Wang Jianfeng, Wang Qi. The Numerical method for lagrange's equations of multibody system with dry friction[J]. Journal of Dynamics and Control,2004,2(2):58-61.