Component Mode Analysis of Large Scale Inertia Variant Mechanical Systems with Flexible Elements and Control Systems

A method is presented for transient dynamic analysis of mechanical systems composed of interconnected rigid and flexible bodies that undergo large angular displacements. Gross displacement of elastic bodies is represented by superposition of local linear elastic deformation on nonlinear displacement...

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Bibliographic Details
Main Authors: Shabana,Ahmed A, Wehage,Roger A
Format: Report
Language:English
Subjects:
Algorithms
Cartesian coordinates
Component reports
Control systems
Deformation
Degrees of freedom
Differential equations
Displacement
Dynamic response
Elastic properties
Equations of motion
Inertia
Interactions
Matrices(Mathematics)
Mechanical engineering
Mechanical properties
Methodology
Numerical methods and procedures
Rigidity
Transients
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Description
Summary:A method is presented for transient dynamic analysis of mechanical systems composed of interconnected rigid and flexible bodies that undergo large angular displacements. Gross displacement of elastic bodies is represented by superposition of local linear elastic deformation on nonlinear displacement of body reference coordinate systems. Flexible bodies are thus represented by combined sets of reference and local elastic variables. Modal analysis and substructuring of the local elastic system is employed to identify all modes and eliminate the insignificant ones. Equations of motion and constraints are formulated in terms of a minimal set of modal and reference generalized coordinates, which are then dynamically adjusted to a time and inertia-variant eigenspectrum. Control system differential equations are formulated and coupled with mechanical system models. The composite nonlinear system of equations is then numerically integrated in the time domain, to obtain complete system dynamic response. Example problems are presented to demonstrate the algorithms and computer code. (Author) This article is from Proceedings of the Meeting of the Coordinating Group on Modern Control Theory (4th) Held at Rochester, Michigan, on 27-28 October 1982. Part II, AD-A126 966.