Flexible Multi-body System Modeling And Simulation Based On Modelica

Modern industrial products, such as vehicle, aircraft, robot, etc., are abstracted as flexible multi-body systems usually in simulation, and are usually multi-domain complex systems composed of subsystems from mechanical, electronic, hydraulic and control system components. The traditional single-field simulation tools have been unable to meet the demands of these multi-domain complex systems. Modelica is an equation-based language for multi-domain physical system modeling. The language describe the components from different domains in a uniform way, so it's very suit for modeling of modern multi-domain complex system. However, for the modeling of Mechanical subsystem of multi-domain complex system, Modelica Standard Library only provides rigid parts. It's unable to meet the demands of modeling of flexbile multi-body systems.In this dissertation, the problem mentioned above has been investigated, based on flexible multi-body system dynamics, a flexible body component has been developed in Modelica/MWorks by obtaining the key data form modal neutral file. The main tasks of this dissertation are as followings:Firstly, based on the dynamics of flexible multi-body systems, the modeling method of flexible body based on Modelica has been investigated, and the unconstrained differential equations of motion of the flexible body has been deduced.Secondly, a flexible body component model has been developed in MWorks by neutral file exchanging method, so the modeling of flexible body component and the dynamical analysis of flexible multi-body systems can be finished in MWorks.Finally, some typical engineering examples, including cantilever, crank-rocker mechanism and hydraulic excavator, are used to demonstrate the correctness and practical application of the flexible body component developed in this paper. The results indicate that the flexible component is compatible and reusable and can be used for static and dynamic analysis.