Dynamic modelling of a multi-cable driven parallel platform with guiding devices

IF 1.8 4区数学 Q3 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Mathematical and Computer Modelling of Dynamical Systems Pub Date : 2020-05-03 DOI:10.1080/13873954.2020.1759653

Yan-de Wang, Z. Kou, Guohua Cao

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引用次数: 2

Abstract

ABSTRACT In this paper, a mathematical model is presented to numerically simulate the dynamical responses in a multi-cable suspension platform taking into account the slack cables and guiding devices. The state change of the cable (slack versus tensioned) is considered and is described mathematically by a complementary condition equation, and the interactions between the guiding wheels and the shaft wall are described by the Heaviside step function. The Lagrange’s equation with constraints is used to derive the dynamic equations of the system, and a non-smooth generalized-α algorithm for non-smooth phenomena of multibody dynamics is applied to numerically solve the equations. The simulation results have shown the dynamic responses of the platform and the cable tension characters when different cables are excited by different longitudinal excitations. Moreover, the results have illustrated how the cable tension differences may affect the pressure on the shaft wall applied by the guiding devices.

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带有导向装置的多索驱动并联平台的动力学建模

本文建立了考虑松弛索和导向装置的多索悬架平台动力学响应的数学模型。考虑了索的状态变化(松弛与张紧)，用互补条件方程对其进行了数学描述，用Heaviside阶跃函数描述了导向轮与井壁的相互作用。采用带约束的拉格朗日方程推导了系统的动力学方程，并采用非光滑多体动力学非光滑现象的非光滑广义-α算法对方程组进行了数值求解。仿真结果显示了在不同的纵向激励下，不同的索受到不同的激励时，平台的动力响应和索的张力特性。此外，结果还说明了索张力差如何影响导向装置施加在井壁上的压力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mathematical and Computer Modelling of Dynamical Systems 数学-计算机：跨学科应用

CiteScore

3.80

自引率

5.30%

发文量

审稿时长

>12 weeks

期刊介绍： Mathematical and Computer Modelling of Dynamical Systems (MCMDS) publishes high quality international research that presents new ideas and approaches in the derivation, simplification, and validation of models and sub-models of relevance to complex (real-world) dynamical systems. The journal brings together engineers and scientists working in different areas of application and/or theory where researchers can learn about recent developments across engineering, environmental systems, and biotechnology amongst other fields. As MCMDS covers a wide range of application areas, papers aim to be accessible to readers who are not necessarily experts in the specific area of application. MCMDS welcomes original articles on a range of topics including: -methods of modelling and simulation- automation of modelling- qualitative and modular modelling- data-based and learning-based modelling- uncertainties and the effects of modelling errors on system performance- application of modelling to complex real-world systems.