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commit b85d161e7c
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把主动力和惯性力向偏速度方向投影得到动力学方程
刚柔混合复杂多体系统的动力学计算方法通常有两种： 非线性有限单元法和刚柔耦合多体动力学方法［１ ２ ４]。**非线性有限元的变形描述是相对于惯性坐标系或单元共旋坐标系， 以单元节点坐标为广义坐标， 自由度多， 对于小变形计算效率低， 对大变形的计算效率尚可， 自然包含了动力钢化效应， 对于刚柔混合系统的处理受到限制， 且不利于机构控制**。刚柔耦合多体动力学方法在浮动坐标系中描述变形， 广义坐标可以是模态坐标或有限元节点坐标， 对于小变形可按通常的线性方法来处理， 如可进行模态展开和截断等， 故可减少自由度， 计算效率高， 对于大变形计算效率低， 适合于处理刚柔混合多体系统， 有利于机构控制。
刚柔混合复杂多体系统的动力学计算方法通常有两种： 非线性有限单元法和刚柔耦合多体动力学方法［１ ２ ４]。**非线性有限元的变形描述是相对于惯性坐标系或单元共旋坐标系， 以单元节点坐标为广义坐标， 自由度多， 对于小变形计算效率低， 对大变形的计算效率尚可， 自然包含了动力钢化效应， 对于刚柔混合系统的处理受到限制， 且不利于机构控制**。刚柔耦合多体动力学方法在浮动坐标系中描述变形， 广义坐标可以是模态坐标或有限元节点坐标， 对于小变形可按通常的线性方法来处理， 如可进行模态展开和截断等， 故可减少自由度， 计算效率高， 对于大变形计算效率低， 适合于处理刚柔混合多体系统， 有利于机构控制。 ^de9c6c
凯恩方法利用**广义速率代替广义坐标**描述系统的运动， 直接利用达朗伯原理建立动力学方程， 并将矢量形式的力与达朗伯惯性力直接向特定的基矢量方向投影以消除理想约束力， 兼有矢量力学和分析力学的特点

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24年7月回国
明年四五月答辩
multibody system dynamics
线性化和模态问题
线性化 特征值 稳定性
铁木辛柯梁对风机做了裁剪
风机气弹软件开发，叶片建模 系统的建模调试debug
特征值相关、坎贝尔图，凯贝尔图分析出来
长叶片edgewise阻尼接近0
SIV VIV不适合模态法，没有完全解决
一个刚体自由度导致的
对梁模型的研究目前停滞了
大变形能到d/L=25%
共旋法
simpec开发超单元，模态缩聚？
GEB
mbdone
beamdyn数值稳定性欠佳，算得很慢
ANCF
不能处理无心不重合问题
FFRF
bladed+hwac2的方法
求法很罗嗦+精度也不好
CRF gtsim
FPM刚度矩阵得不到，ansys becas 都需要对截面做很详细的网格划分，截面、几何过于复杂，没法自动化划分，
100米叶片要30个截面，弯扭耦合求解
需要截面分析软件
线性化
CCblade解析线性化思路
采用数值摄动，局部坐标系下做
5点摄动，有相关系数，小于0.8任务值是真的
dynamic inflow对结构相应变化比较慢，10s左右
特征值
bladed hwacstable2气弹阻尼比对不上
模态法代码很罗嗦，计算性能不一定好
Q:
共旋[[Kane方法#^de9c6c]] 叶片多少节点，自由度，共旋方法对叶片非线性的模拟能力怎么样，弯扭耦合的仿真能力，计算效率
gtsim共旋只用在叶片上？
bladed，多节点叶片模型，也使用模态叠加法求解？叶片模态能增加到几阶
只有阻尼比测试 ，有没有跟实际机组其他项的对比？
数值稳定性问题，除了做一些项的简化还有没有别的方法，切向矩阵，主要是切向刚度矩阵求解的时候，准确与否影响，收敛的方向
数值稳定性
qblade chrono框架 授权源码