STUDY ON DYNAMIC MODELING THEORY OF RIGID- FLEXIBLE COUPLING SYSTEMS
刚-柔耦合动力学系统的建模理论研究

According to this full new dynamic modeling theory, the traditional hybrid-coordinatemodel of rigid-flexible coupling systems is considered as a zero order approximate dynamic model.With the assumption of elastic deformation in structure dynamics, the high order coupling de-formation variables are ignored in the zero order dynamic model. In this paper, the high ordercoupling dynamic modeling for flexible beams is described. Based on continuum medium mechan-ics, the quadratic term of the partial derivative of the deformation displacement with respect tothe spatial position is kept in the related equation between the stretching rate and the deformationdisplacements. The second order coupling terms of the deformation motion are deduced. Thefinite element method is used for the system discretization and the coupling dynamic equations offlexible beam are obtained by using Jourdain's velocity variational principle. The angular velocityand the tip deformation of the flexible pendulum are calculated. The difference of the dynamicproperty between the zero order model and the coupling model is revealed.