Controller Parameters Tuning Based on Transfer Matrix Method for Multibody Systems

Transfer Matrix Method for Multibody Systems (MSTMM) has the advantages of no need to establish the global system dynamics equations, low order of the system matrix, high programming, and fast calculation speed compared to the ordinary dynamics methods. In this paper, the topological graph of the dynamics model, transfer equations, transfer matrix of overall system and the simulation program of dynamics of the self-propelled artillery system are established by using the new version of the transfer matrix method for multibody systems and the automatic deduction theorem of overall transfer equation of systems. Realize the rapid calculation of the deviation of the pitch angle and the revolution angles of the turret versus time in the self-propelled artillery. It provides a theoretical basis and simulation means for the dynamics analysis of the self-propelled artillery.

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Riccati Transfer Equations for Linear Multibody Systems with Indeterminate In-Span Conditions

Journal of Applied Mechanics ◽

10.1115/1.4042762 ◽

2019 ◽

Vol 86 (6) ◽

Author(s):

Jianshu Zhang ◽

Xiaoting Rui ◽

Junjie Gu

Keyword(s):

Transfer Matrix ◽

Transfer Matrix Method ◽

Transfer Equation ◽

Matrix Method ◽

Multibody Systems ◽

Internal Force ◽

State Variables ◽

Transfer Matrices ◽

Transfer Equations ◽

Mechanical Elements

The transfer matrix method for linear multibody systems is capable of providing precise solutions for the dynamics of various mechanical systems, but it may also suffer from numerical instability in some cases, where serial chains with a large number of mechanical elements are involved or high-frequency harmonic responses are computed. Combining such a transfer strategy with the Riccati transformation yields the Riccati transfer matrix method (RTMM), which can help improve the numerical stability. According to the existing method, the conventional transfer matrices of all the mechanical elements should be obtained first; in other words, the existence of conventional transfer matrices is a prerequisite for the application of the RTMM. Thus, it seems that the RTMM is incapable of performing the dynamics analysis of linear multibody systems with indeterminate in-span conditions due to the nonexistence of the corresponding conventional transfer matrices. Observe that, for any state variables with indeterminate input–output relationships, the complementary state variables (the complementary state variable of a displacement is the corresponding internal force and vice versa) are identically equal to zero, and that the dimension of the Riccati transfer equation is only half of that of the conventional transfer equation. It reveals that the Riccati transfer equations for the connection points associated with indeterminate in-span conditions can be formulated directly, and that there is no need to rely on the conventional transfer equation. Two numerical examples are simulated and the computational results are compared with those obtained by the finite element method, which verifies the proposed method.

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Research on the Solver of Riccati Transfer Matrix Method for Linear Multibody Systems

Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control ◽

10.1115/detc2018-86338 ◽

2018 ◽

Author(s):

Junjie Gu ◽

Xiaoting Rui ◽

Jianshu Zhang ◽

Gangli Chen

Keyword(s):

Transfer Matrix ◽

Transfer Matrix Method ◽

Matrix Method ◽

Multibody Systems ◽

Multibody System ◽

Automatic Generation ◽

Object Oriented Programming ◽

Connectivity Matrix ◽

Closed Loops ◽

Practical Engineering

Riccati transfer matrix method for multibody systems (RMSTMM) has lower matrix order and better numerical stability than transfer matrix method for multibody systems (MSTMM). In order to make technicians more convenient to apply RMSTMM in practical engineering to improve the computational efficiency of dynamics, in this paper, a linear RMSTMM solver is developed based on the linear RMSTMM theory. A solver input document with good compatibility and extensibility is designed based on extensible markup language (XML); The data structure of multibody system is designed based on object-oriented programming method. The technique of auto selecting the cut hinges of closed-loops of the multibody system is established by introducing the correlation matrix and the dynamic connectivity matrix which depict the connecting state of elements. The automatic generation of the derived tree system by cutting off the closed-loops in the multibody system is realized based on the technique. The automatic regularly numbering of dynamics elements of multibody systems is realized based on the depth first recursive traversal algorithm; Finally, the Riccati transfer matrix recursive technique is implemented based on the regular numbers of dynamics elements of the multibody system. An example is given to verify the effectiveness of the solver which provides a powerful tool for extending the application of RMSTMM in practical engineering.

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Study on the Dynamics of IMU Isolation System Based on Transfer Matrix Method for Multibody Systems

Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control ◽

10.1115/detc2018-85557 ◽

2018 ◽

Author(s):

Yu Tao ◽

Xiaoting Rui ◽

Fufeng Yang ◽

Jianshu Zhang

Keyword(s):

Transfer Matrix ◽

Transfer Matrix Method ◽

Matrix Method ◽

Multibody Systems ◽

Inertial Measurement Unit ◽

Random Excitation ◽

Measurement Unit ◽

Test Accuracy ◽

Dynamics Model ◽

Isolation System

An important way to improve the dynamical test accuracy of an inertial measurement unit (IMU) is to suppress its vibration. In this paper, the dynamics model of a laser gyro strapdown IMU is developed based on the new version of the transfer matrix method for multibody systems (MSTMM). According to the dynamics model, acceleration responses of the IMU system with and without control are numerically computed under random excitation. The results show that the work situation of the IMU can be significantly improved by adopting magnetorheological elastomer (MRE) isolators, which provides a new technical means of upgrading the output precision of IMU.

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Transfer Matrix Method for Multibody Systems

10.1002/9781118724811 ◽

2017 ◽

Cited By ~ 4

Author(s):

Xiaoting Rui ◽

Guoping Wang ◽

Jianshu Zhang

Keyword(s):

Transfer Matrix ◽

Transfer Matrix Method ◽

Matrix Method ◽

Multibody Systems

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