基于模糊控制的多体系统动力学约束违约稳定方法
Research on Constraint Violation Stabilization Method of Multibody System Dynamics Based on Fuzzy Control
DOI: 10.12677/dsc.2025.143020, PDF,   
作者: 满万鑫：中国航天科工飞航技术研究院磁电总体部，北京；北京航空航天大学自动化科学与电气工程学院，北京；任晓博, 高斐斐, 张珅榕：中国航天科工飞航技术研究院磁电总体部，北京
关键词: 模糊控制；约束违约；多体动力学；鲍姆加特法；Fuzzy Logic Control； Constraint Violation； Multibody System Dynamics； Baumgarte Method
摘要: 提出了一种基于模糊逻辑控制的多体动力学约束违约稳定方法。该方法以位置约束方程及其导数的误差作为模糊输入，通过模糊推理机制计算反馈输出，精准控制多体系统的约束违约。与传统方法不同，该方法不受积分算法选择、时间步长设置等因素的限制，在长时间实时仿真场景中展现出良好的适应性与稳定性。通过平面三摆和曲柄滑块两个典型仿真算例，有效验证了该方法在约束违约控制中的可靠性与有效性，为多体系统动力学仿真提供了新的技术路径。
Abstract: A constraint violation stabilization method of multibody system dynamics is presented using fuzzy logic control. The method uses the errors of position constraint equations and their derivatives as fuzzy inputs, and calculates feedback outputs through a fuzzy inference mechanism to accurately control constraint violations in multibody systems. Unlike traditional methods, this approach is not limited by factors, such as the choice of integration algorithm or the setting of time steps, demonstrating good adaptability and stability in long-term real-time simulation scenarios. The reliability and effectiveness of the proposed method in constraint violation control are validated through two typical simulation cases: a planar triple pendulum and a crank-slider mechanism, providing a new technical pathway for multibody system dynamics simulation.
文章引用：满万鑫, 任晓博, 高斐斐, 张珅榕. 基于模糊控制的多体系统动力学约束违约稳定方法[J]. 动力系统与控制, 2025, 14(3): 196-205. https://doi.org/10.12677/dsc.2025.143020

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