Conference article

Modelling and Simulation of the Coupled Rigid-flexible Multibody Systems in MWorks

Xie Gang
CAD Center, Huazhong University of Science and Technology, Wuhan, China

Zhao Yan
CAD Center, Huazhong University of Science and Technology, Wuhan, China

Zhou Fanli
Suzhou Tongyuan Software & Control Tech. Co. Ltd, Suzhou, China

Chen Liping
CAD Center, Huazhong University of Science and Technology, Wuhan, China

Download articlehttp://dx.doi.org/10.3384/ecp12076405

Published in: Proceedings of the 9th International MODELICA Conference; September 3-5; 2012; Munich; Germany

Linköping Electronic Conference Proceedings 76:42, s. 405-416

Show more +

Published: 2012-11-19

ISBN: 978-91-7519-826-2

ISSN: 1650-3686 (print), 1650-3740 (online)

Abstract

Aiming to the design challenge of modern mechatronic products; this paper presents a method to simulate the coupled rigid-flexible system in Mworks. Firstly; the component mode synthesis (CMS) technique is introduced and the Craig-Bampton method is adopted to build the flexible-body model. The general flexible-body model named FlexibleBody is developed based on the standard MultiBody library in Modelica; which describes the small and linear deformation behavior (relative to a local reference frame) of a flexible-body that undergoes large and non-linear global motion. In the model; the modal neutral file (MNF) is introduced as a standard interface to describe the constraint modes. Secondly; the model is used to construct a library of boom system of concrete pump truck and the simulations covering the expanding and folding process are carried out based on both the rigid multibody and the coupled rigid-flexible system models. Finally; the influence to dynamics performance of the boom system is analyzed and the conclusion is drawn. The method in this paper provides an effective approach to build unified model and simulate flexible-body in multi-domain engineering systems.

Keywords

rigid-flexible system; concrete pump truck; MWorks

References

[1] Andreas Heckmann; Martin Otter; Stefan Dietz; et al. The DLR FlexibleBodies library to model large motions of beams and of flexible bodies exported from finite element programs; The Modelica Association. Modelica 2006: 85-95.

[2] Andreas Heckmann; Stefan Hartweg and Ingo Kaiser. An Annular Plate Model in Arbitrary Lagrangian-Eulerian Description for the DLR FlexibleBodies Library. Proceedings 8th Modelica Conference; Dresden; Germany; March 20-22; 2011: 121- 132.

[3] O. Wallrapp: Standardization of Flexible Body Modeling in Multibody System Codes; Part 1: Definition of Standard Input Data; Mechanics of Structures and Machines 22(3):283-304; 1994. doi: 10.1080/08905459408905214.

[4] P. Koutsovasilis; V. Quarz; M. Beitelschmidt. Standard input data for FEM-MBS coupling: importing alternative model reduction methods into SIMPACK. Mathematical and Computer Modelling of Dynamical Systems; 2009; 15(1): 51-68. doi: 10.1080/13873950802416365

[5] R. Craig; M. Bampton. Coupling of substructures for dynamic analysis. Amer. Inst. Aero. Astro. J. 1968; 6(7): 1313-1319. doi: 10.2514/3.4741.

[6] S. Rubin. Improved component-mode representation for structural dynamic analysis Amer. Inst. Aero. Astro. J.; 13 (8) (1975); pp. 995–1006. doi: 10.2514/3.60497.

[7] R. R. Craig. Coupling of substructures for dynamic analyses: an overview; in: Structures; Structural Dynamics and Material Conference; 41st AIAA/ASME/ASCE/AHS/ASC; Atlanta; 2000; AIAA-2000-1573.

[8] D. J. Daniel; J. Rixen. A dual Craig-Bampton method for dynamic substructuring. Journal of Computational and Applied Mathematics; 2004; 168(1-2): 383-391. doi: 10.1016/j.cam.2003.12.014.

[9] ADAMS. Theoretical Background. MSC. Software Corporation; 2003: 1-30. http://ti.mb.fh-osna-brueck.de/adamshelp/mergedProjects/flex/flex_gen/flextheory.pdf.

[10] Dimitri Metaxas; Eunyoung Koh. Flexible multibody dynamics and adaptive finite element techniques for model synthesis and estimation. Comput. Methods Appl. Mech. Engrg. 1996; 136: 1 – 25. doi: 10.1016/0045-7825(96)01057-2.

[11] Takehiko Eguchi. Improvement of component mode synthesis model for vibration analysis of hard disk drives using attachment modes. Microsyst technol; 2007; 13: 1085-1092. doi: 10.1007/s00542-006-0313-x.

[12] Frédéric Bourquin. Analysis and comparison of several component mode synthesis methods on one-dimensional domains. Numer. Math. 1990; 58: 11 – 34. doi: 10.1007/BF01385608.

[13] Polarit Apiwattanalunggarn; Steven W. Shaw; Christophe Pierre. Component Mode Synthesis Using Nonlinear Normal Modes. Nonlinear Dynamics; 2005; 41: 17 – 46. doi: 10.1007/s11071-005-2791-2.

[14] Ulf Sellgren. Component Mode Synthesis – A method for efficient dynamic simulation of complex technical systems. Department of Machine Design; the Royal Institute of Technology; Sweden; 2003: 1-27.

[15] Zhou Fanli; Chen Liping; Wu Yizhong; et al. MWorks: a Modern IDE for Modeling and Simulation of Multi-domain Physical Systems Based on Modelica. The Modelica Association; Modelica 2006: 725-731.

Citations in Crossref