Dynamic Optimization of Multibody System Dynamics and Adjoint Variable Method for Design Sensitivity Analysis
多体系统动力学动态最优化设计与灵敏度分析

Dynamic optimization based on multibody system dynamics is a complex process, which composed of traditional analysis and simulation of multibody system dynamics, design sensitivity analysis and iterative processes of optimization. A penalty function method for multibody system dynamic optimization is presented based on kinematics described by algebraic equations and dynamics described by second order ordinary differential equations or differential/algebraic equations which include design parameters. Based on the above equations and a general objective functions of integral type, the corresponding adjoint variable methods for sensitivity analysis are constructed. Finally, three numerical examples include double pendulum, slide-crank system and spring-mass system validate the method presented in this paper.