双复摆模型动力学建模(二)

4) 刚体质心速度与加速度

前述坐标系的建立是以各铰为原点，$O_0$为惯性坐标系原点，$O_1$为铰1坐标系原点，在有根树系统中，$O_0$通常与$O_1$重合。
对于刚体的位置矢量有

$${\mathbf{r}}_1={\mathbf{d}}_{11}+{\mathbf{d}}_{21}+{\mathbf{r}}_0={\left[\begin{array}{ccc}C{\theta }_1{\rho }_1& S{\theta }_1{\rho }_1& 0\end{array}\right]}^{\mathrm{T}}\text{\hspace{1em}(33)}$$

$${\mathbf{r}}_2={\mathbf{d}}_{12}+{\mathbf{d}}_{22}+{\mathbf{r}}_0={\left[\begin{array}{ccc}C{\theta }_{1}l+C({\theta }_1+{\theta }_2){\rho }_2& S{\theta }_{1}l+S({\theta }_1+{\theta }_2){\rho }_2& 0\end{array}\right]}^{\mathrm{T}}\text{\hspace{1em}(34)}$$

其中${\mathbf{r}}_0$为$O_1$到$O_0$的距离

写成矩阵的形式有

$$\underline{\mathbf{r}}={\underline{\mathbf{d}}}^{\mathrm{T}}{\underline{1}}_n+{\mathbf{r}}_0{\underline{1}}_n\text{\hspace{1em}(35)}$$

由于${\dot{\mathbf{d}}}_i=\mathbf{\omega }\times {\mathbf{d}}_{\mathbf{i}}$,刚体的速度矢量有

$$\begin{gathered} {\dot{\mathbf{r}}}_1={\dot{\mathbf{d}}}_{11}+{\dot{\mathbf{d}}}_{21}+{\dot{\mathbf{r}}}_0={\mathbf{\omega }}_1\times {\mathbf{d}}_{11}+0= \\ \left[\begin{array}{c}-S{\theta }_1{\rho }_1{\dot{\theta }}_1\\ C{\theta }_1{\rho }_1{\dot{\theta }}_1\\ 0\end{array}\right]\text{\hspace{1em}(36)} \end{gathered}$$

$$\begin{gathered} {\dot{\mathbf{r}}}_2={\dot{\mathbf{d}}}_{12}+{\dot{\mathbf{d}}}_{22}+{\dot{\mathbf{r}}}_0={\mathbf{\omega }}_1\times {\mathbf{d}}_{12}+{\mathbf{\omega }}_2\times {\mathbf{d}}_{22}+0= \\ \left[\begin{array}{c}-S({\theta }_1+{\theta }_2){\rho }_2(\dot{{\theta }_1}+\dot{{\theta }_2})-S{\theta }_{1}l\dot{{\theta }_1}\\ C({\theta }_1+{\theta }_2){\rho }_2(\dot{{\theta }_1}+\dot{{\theta }_2})+C{\theta }_{1}l\dot{{\theta }_1}\\ 0\end{array}\right]\text{\hspace{1em}(37)} \end{gathered}$$

其中${\dot{\mathbf{r}}}_0$为$O_1$相对于$O_0$的速度。
写成矩阵的形式有

$$\underline{\dot{\mathbf{r}}}=-{\underline{\mathbf{d}}}^{\mathrm{T}}\times \underline{\mathbf{\omega }}+{\dot{\mathbf{r}}}_0{\underline{1}}_n\text{\hspace{1em}(38)}$$

由于$-a\times b=b\times a$，对式$(36)$和式$(37)$进行求导有刚体的加速度矢量

$$\begin{gathered} {\ddot{\mathbf{r}}}_1={\dot{\mathbf{\omega }}}_1\times {\mathbf{d}}_{11}+{\mathbf{\omega }}_1\times ({\mathbf{\omega }}_1\times {\mathbf{d}}_{11})+{\ddot{\mathbf{r}}}_0= \\ \left[\begin{array}{c}-S{\theta }_1{\rho }_1(\ddot{{\theta }_1}+\frac{\partial {\mathbf{p}}_1}{\partial {\theta }_1}\dot{{\theta }_1}\dot{{\theta }_1})-C{\theta }_1{\rho }_1{\dot{\theta }}_1{\dot{\theta }}_1\\ C{\theta }_1{\rho }_1(\ddot{{\theta }_1}+\frac{\partial {\mathbf{p}}_1}{\partial {\theta }_1}\dot{{\theta }_1}\dot{{\theta }_1})-S{\theta }_1{\rho }_1{\dot{\theta }}_1{\dot{\theta }}_1\\ 0\end{array}\right]\text{\hspace{1em}(39)} \end{gathered}$$

$$\begin{gathered} {\ddot{\mathbf{r}}}_2={\dot{\mathbf{\omega }}}_1\times {\mathbf{d}}_{12}+{\mathbf{\omega }}_1\times ({\mathbf{\omega }}_1\times {\mathbf{d}}_{12})+{\dot{\mathbf{\omega }}}_2\times {\mathbf{d}}_{22}+{\mathbf{\omega }}_2\times ({\mathbf{\omega }}_2\times {\mathbf{d}}_{22})+{\ddot{\mathbf{r}}}_0= \\ \left[\begin{array}{c}-S{\theta }_{1}l(\ddot{{\theta }_1}+\frac{\partial {\mathbf{p}}_1}{\partial {\theta }_1}\dot{{\theta }_1}\dot{{\theta }_1})-C{\theta }_{1}l{\dot{\theta }}_1{\dot{\theta }}_1\\ C{\theta }_{1}l(\ddot{{\theta }_1}+\frac{\partial {\mathbf{p}}_1}{\partial {\theta }_1}\dot{{\theta }_1}\dot{{\theta }_1})-S{\theta }_{1}l{\dot{\theta }}_1{\dot{\theta }}_1\\ 0\end{array}\right]+ \\ \left[\begin{array}{c}-S({\theta }_1+{\theta }_2){\rho }_2(\ddot{{\theta }_1}+\frac{\partial {\mathbf{p}}_1}{\partial {\theta }_1}\dot{{\theta }_1}\dot{{\theta }_1}+\ddot{{\theta }_2}+\frac{\partial {\mathbf{p}}_2}{\partial {\theta }_2}\dot{{\theta }_2}\dot{{\theta }_2})-C({\theta }_1+{\theta }_2){\rho }_2(\dot{{\theta }_1}+\dot{{\theta }_2})({\dot{\theta }}_1+{\dot{\theta }}_2)\\ C({\theta }_1+{\theta }_2){\rho }_2(\ddot{{\theta }_1}+\frac{\partial {\mathbf{p}}_1}{\partial {\theta }_1}\dot{{\theta }_1}\dot{{\theta }_1}+\ddot{{\theta }_2}+\frac{\partial {\mathbf{p}}_2}{\partial {\theta }_2}\dot{{\theta }_2}\dot{{\theta }_2})-S({\theta }_1+{\theta }_2){\rho }_2(\dot{{\theta }_1}+\dot{{\theta }_2})({\dot{\theta }}_1+{\dot{\theta }}_2)\\ 0\end{array}\right]\text{\hspace{1em}(40)} \end{gathered}$$

写成矩阵的形式有

$$\underline{\ddot{\mathbf{r}}}=-{\underline{\mathbf{d}}}^{\mathrm{T}}\times \underline{\ddot{\mathbf{\omega }}}+\underline{\mathbf{a}}\text{\hspace{1em}(41)}$$

其中$\underline{\mathbf{a}}$为$B_0$牵连加速度以及路径上刚体转动向心加速度之和

$$\underline{\mathbf{a}}={\left[\begin{array}{cc}{\mathbf{a}}_1& {\mathbf{a}}_2\end{array}\right]}^{\mathrm{T}}$$

$${\mathbf{a}}_1={\ddot{\mathbf{r}}}_0+\sum _{i=1}^2{\mathbf{\omega }}_1\times ({\mathbf{\omega }}_1\times \mathbf{d}i1)=\left[\begin{array}{c}-C{\theta }_1{\rho }_1{\dot{\theta }}_1{\dot{\theta }}_1\\ -S{\theta }_1{\rho }_1{\dot{\theta }}_1{\dot{\theta }}_1\\ 0\end{array}\right]$$

$${\mathbf{a}}_2={\ddot{\mathbf{r}}}_0+\sum _{i=1}^2{\mathbf{\omega }}_2\times ({\mathbf{\omega }}_2\times \mathbf{d}i2)=\left[\begin{array}{c}-C{\theta }_{1}l{\dot{\theta }}_1{\dot{\theta }}_1-C({\theta }_1+{\theta }_2){\rho }_2(\dot{{\theta }_1}+\dot{{\theta }_2})({\dot{\theta }}_1+{\dot{\theta }}_2)\\ -S{\theta }_{1}l{\dot{\theta }}_1{\dot{\theta }}_1-S({\theta }_1+{\theta }_2){\rho }_2(\dot{{\theta }_1}+\dot{{\theta }_2})({\dot{\theta }}_1+{\dot{\theta }}_2)\\ 0\end{array}\right]$$

将式$(20)$和式$(26)$带入得

$$\underline{\dot{\mathbf{r}}}=(\underline{T}\underline{\mathbf{d}}{)}^{\mathrm{T}}\times \underline{\mathbf{\Omega }}+\underline{\mathbf{s}}\text{\hspace{1em}(42)}$$

$$\underline{\ddot{\mathbf{r}}}=(\underline{T}\underline{\mathbf{d}}{)}^{\mathrm{T}}\times (\underline{\dot{\mathbf{\Omega }}}+\underline{\mathbf{h}})+\underline{\dot{\mathbf{s}}}\text{\hspace{1em}(43)}$$

其中

$$\underline{\mathbf{s}}={\dot{\mathbf{r}}}_0{\underline{1}}_n-{\underline{\mathbf{d}}}^{\mathrm{T}}\times ({\mathbf{\omega }}_0{\underline{1}}_n)\text{\hspace{1em}(44)}$$

由式$(16)$、式$(17)$将式$(26)$写成广义坐标的形式，有

$$\underline{\dot{\mathbf{r}}}=\underline{\mathbf{\alpha }}\underline{\dot{q}}+\mathbf{s}\text{\hspace{1em}(45)}$$

$$\underline{\ddot{\mathbf{r}}}=\underline{\mathbf{\alpha }}\underline{\ddot{q}}+\mathbf{u}\text{\hspace{1em}(46)}$$

其中

$$\begin{gathered} \underline{\mathbf{\alpha }}=-(\underline{\mathbf{p}}\underline{T}\times \underline{\mathbf{d}}{)}^{\mathrm{T}}={\left[\begin{array}{c}\left[\begin{array}{cc}{\mathbf{p}}_1& 0\\ 0& {\mathbf{p}}_2\end{array}\right]\left[\begin{array}{cc}1& 1\\ 0& 1\end{array}\right]\times \left[\begin{array}{cc}{\mathbf{d}}_{11}& {\mathbf{d}}_{12}\\ 0& {\mathbf{d}}_{22}\end{array}\right]\end{array}\right]}^{\mathrm{T}}= \\ {\left[\begin{array}{cc}{\mathbf{\alpha }}_{11}& {\mathbf{\alpha }}_{12}\\ {\mathbf{\alpha }}_{21}& {\mathbf{\alpha }}_{22}\end{array}\right]}^{\mathrm{T}}={\left[\begin{array}{cc}{\mathbf{p}}_1\times {\mathbf{d}}_{11}& {\mathbf{p}}_1\times ({\mathbf{d}}_{12}+{\mathbf{d}}_{22})\\ 0& {\mathbf{p}}_2\times {\mathbf{d}}_{22}\end{array}\right]}^{\mathrm{T}}\text{\hspace{1em}(47)} \end{gathered}$$

其中

$${\mathbf{\alpha }}_{11}={\left[\begin{array}{ccc}-S{\theta }_1{\rho }_1& C{\theta }_1{\rho }_1& 0\end{array}\right]}^{\mathrm{T}}\text{\hspace{1em}(48)}$$

$${\mathbf{\alpha }}_{12}={\left[\begin{array}{ccc}-S{\theta }_{1}l-S({\theta }_1+{\theta }_2){\rho }_2& C{\theta }_{1}l+C({\theta }_1+{\theta }_2){\rho }_2& 0\end{array}\right]}^{\mathrm{T}}\text{\hspace{1em}(49)}$$

$${\mathbf{\alpha }}_{21}=0\text{\hspace{1em}(50)}$$

$${\mathbf{\alpha }}_{22}={\left[\begin{array}{ccc}-S({\theta }_1+{\theta }_2){\rho }_2& C({\theta }_1+{\theta }_2){\rho }_2& 0\end{array}\right]}^{\mathrm{T}}\text{\hspace{1em}(51)}$$

$$\underline{\mathbf{u}}=\mathbf{a}-{\underline{\mathbf{d}}}^{\mathrm{T}}\times \underline{\mathbf{\sigma }}=\left[\begin{array}{c}{\mathbf{u}}_1\\ {\mathbf{u}}_2\end{array}\right]\text{\hspace{1em}(52)}$$

其中

$${\mathbf{u}}_1={\left[\begin{array}{c}-C{\theta }_1{\rho }_1{\dot{\theta }}_1{\dot{\theta }}_1\\ -S{\theta }_1{\rho }_1{\dot{\theta }}_1{\dot{\theta }}_1\\ 0\end{array}\right]}^{\mathrm{T}}\text{\hspace{1em}(53)}$$

$${\mathbf{u}}_2={\left[\begin{array}{c}-C{\theta }_{1}l{\dot{\theta }}_1{\dot{\theta }}_1-C({\theta }_1+{\theta }_2){\rho }_2(\dot{{\theta }_1}+\dot{{\theta }_2})({\dot{\theta }}_1+{\dot{\theta }}_2)\\ -S{\theta }_{1}l{\dot{\theta }}_1{\dot{\theta }}_1-S({\theta }_1+{\theta }_2){\rho }_2(\dot{{\theta }_1}+\dot{{\theta }_2})({\dot{\theta }}_1+{\dot{\theta }}_2)\\ 0\end{array}\right]}^{\mathrm{T}}\text{\hspace{1em}(54)}$$

(4)力元运动学

力元描述多刚体中除理想约束之外的主动内力称为力元，描述力元有力元关联矩阵${\underline{S}}^e$和力元矢量矩阵${\underline{\mathbf{C}}}^e$

对于此双摆系统没有力元，因此

$${\underline{S}}^e=0$$

$${\underline{\mathbf{C}}}^e=\underline{0}$$