多體系統動力學分析與控制

The Dynamic Analysis and Control of Multibody Systems

張文順(Van-Thuan Truong)

指導教授 ： 黃運琳

國立虎尾科技大學/工程學院/機械與機電工程研究所/博士(2015年)

https://doi.org/10.6827/NFU.2015.00150

摘要

多體動力學是力學的一個重要領域，且被應用於文明生活與工業的許多領域當中。應用範圍可以與機器人，工業機器手臂，CNC工具機，汽車，航空工程，與海洋工程等相關。因此，這個領域與結構優化，機械穩定性和控制設計有著密切的關係。這也是多體動力學之所以吸引了許多科學家和製造商的關注與主要原因。
基於電腦輔助工程和遞迴運算法，本研究發展出針對多體動力學分析，仿真和控制的同步計算分析方法。在本研究終將計算力學、有限元素分析方法和控制理論集成，用以解決這一研究領域的重點問題：彈性和撓性機械系統、接觸與衝擊動力學、和控制仿真等。
在本專題研究論文中，運用CNC工具機和工業機器人的機械手之實例來配置執行。整個運動學和系統動力學之分析則通過多個數值方法獲得之。不僅針對可以從事剛體分析處理，也能從事變形體分析處理。垂直立柱的柔性結構，兩個機械部件間受到非線性因素的影響，以及共振頻率特性之間的交互動作皆在考慮研究專題中。本研究導入全新的數值分析方法，以獲得系統的傳遞函數，同時進行以及實現控制調校。在本研究中，利用CAE軟體RecurDyn，ANSYS和Matlab/Simulink同步來進行。 RecurDyn，ANSYS和Matlab/Simulink中的關聯協調性顯示出其乃是針對多體機械系統的CAE和數值算法最佳相結合的同步工具。

關鍵字

多體動力學 ； 建模與仿真 ； 控制 ； 電腦輔助工程 ； 同步

並列摘要

Multi-body dynamics is an important area of mechanics and has application in any field of civilization and industries. The applications can be related to robots, industrial manipulators, machine tools, vehicles, aero-space, ocean engineering and so on. Therefore, this field has intimate relation to structural optimization, stability and control design. It is the main reason that multi-body dynamics attracts the attention of many scientists and manufacturers.
Based on computational aided engineering and recursive algorithm, this investigation develops a synchronous approach of multi-body dynamics analysis simulation and control theorem. In which, multi-body mechanics, finite element method and control theorem are integrated to solve focusing problems of this research field such as elastic or flexible systems, contact or impact dynamics and control problems.
In this research study, configurations of machine tools and industrial robot manipulator are executed. Whole kinematics and dynamics of systems are acquired via numerical methods. The analysis treats not only rigid but also deformable bodies. The flexible structure of vertical carriage, interactive movement between two mechanical parts, and effects of non-linear factors as well as characteristics of vibration frequencies are considered. This research introduces a new manner to obtain transfer function of systems, accordantly control tuning is implemented. The CAE software RecurDyn, ANSYS and Matlab/Simulink are carried out in this study. The results show that RecurDyn, ANSYS and Matlab/Simulink are efficient synchronous tools of CAE and numerical algorithm integration.

並列關鍵字

Multi-body Dynamic Systems ； Modeling and Simulation ； Control ； Computer-Aided Engineering ； Synchronous

參考文獻

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