动力学

The algorithm GS to solve the problem of inverse dynamics based on the optimal theory is proposed, by using the numerical methods of Gill and shooting target, the optimal joint driven torques are obtained With the smooth joint trajectory motion, a fast and stable inverse dynamics method is proposed, it provides a new effective way to control the flexible manipulator The trajectory planning in the joint space and Cartesian coordinates is especially discussed In terms of kinematics of space flexible link manipulators, a sequential integration method for inverse dynamic analysis of flexible manipulators is developed The concrete results of simulations tested and verified the validity of proposed methods, and some valuable conclusions are achieved.

提出了求解基于最优理论的柔性臂逆动力学问题的GS法(Gill—Shooting method)，得到了柔性臂关节的最优驱动力矩；提出了基于光滑关节运动轨迹的柔性臂逆动力学的快速稳定方法，为柔性臂控制提供了一条新的途径；探讨了关节空间和直角坐标空间柔性臂的轨迹规划问题；研究并完善了结合柔性臂运动学的顺序积分的逆动力学方法。通过具体实例的仿真研究，验证了所提出的柔性臂逆动力学方法的有效性，得出了一些很有价值的结论。

This course introduces basic knowledge of Analytical Mechanics and theory of movement stability, and focuses on dynamics knowledge related tightly with engineering technique such as orbit moment in central gravitation field, electromechanical coupling dynamics, rigid-body dynamics, gyroscopic dynamics, manipulator dynamics et al.

本课程较系统地叙述了分析力学和运动稳定性理论的基础知识，着重介绍与工程技术密切相关的动力学知识，如中心引力场中的轨道运动、机电耦合系统动力学、刚体动力学与陀螺力学、机械臂的动力学分析方法。

As the example, robot mechanism is considered, including the topology graph representation. compotation of the mathematical model. This method based on Riemann geometry with simpler formulation is more suitable for computer-aided modeling and dynamic analysis.

讨论了机器人系统的拓扑图表示和动力学模型计算等，与已有的机器人动力学分析办法相比，基于黎曼几何和拓扑图表示方法的动力学分析更加简便，更加适合机器人动力学机械化建模。

This dissertation is concerned with the kinetics of the nonequilibrium dissociation and ionization of gases that are significant in the high temperature gas dynamics. There are two parts in the dissertation. In the first part, the kinetics of dissociating gas, a theoretical calculation is made of the nonequilibrium dissociation of the diatomic molecule behind a strong shock wave front.

中文题名高温气体解离和电离动力学研究副题名外文题名 The study of the kinetics of dissociation and ionization in the high temperature gases 论文作者王苏导师崔季平何宇中研究员范秉诚高级工程师学科专业一般力学研究领域\研究方向学位级别博士学位授予单位中国科学院力学研究所学位授予日期2001 论文页码总数125页关键词气体动力学电离复合非平衡解离速率振动－解离耦合馆藏号BSLW /2003 /O354 /1 本论文选取在高温气体动力学中具有重要意义的气体非平衡解离和电离动力学作为研究对象，包括两部分内容。

As the application of the intermediate models is concerned, the works applying the intermediate models to investigate the topographic boundary layer, frontogenesis and low-level frontal structures, and the boundary layer jet are summarized in this article. It is mainly focused on the dynamic characteristics of the Ekman layer and its effect on the low-level structure and circulation of the weather systems illustrated by the models. It is shown that the intermediate boundary-layer models have great potential in illustrating the low level structures of the weather and climate systems as they are coupled with the free atmospheric models.

对于这些Ekman边界层近似理论模型的进一步应用问题，主要回顾和总结了利用上述模型探讨地形边界层结构、大气锋生过程、低层锋面结构和环流以及边界层日变化、低空急流形成等动力学问题的研究，并对这些研究所揭示的Ekman层动力学特征及其对自由大气低层运动的影响进行了分析，结果表明，这些Ekman边界层近似模型可以较好地揭示大气边界层动力学特征，在大气边界层动力学及其与自由大气相互作用的研究上具有重要价值。

And introduces the structure and operational principle of QLZ87AGL made in china which has been armed by our army. Based on the classical interior ballistics and weapon gas dynamics theory, a mathematics model of the interior ballistics and gas system is established.

运用经典内弹道、武器气体动力学和自动武器系统动力学理论建立了榴弹发射器在发射过程中的内弹道、后效期、导气装置的气体动力学模型和机构二自由度的动力学模型。

In the following,we discuss the Lagrange multiplier method of flexible multi-body system dynamics and its application.

接下来详细讨论了多柔体系统动力学的Lagrange乘子法及其应用。多体系统动力学特别是多柔体系统动力学，是一个刚刚兴起的动力学研究的新方向。

The time evolution of expectation values of the basic dynamic variables in a quantum system under different effective Planck constant were compared with the exact values of the basic dynamic variables in classical system. It is found, for the regular motion, the difference comes from the quantum effect; for the chaotic motion, it comes from the dynamical effect and the destruction of the dynamical system.

通过引入等效普朗克常数，将量子系统中基本动力学变量的期望值和经典系统中基本动力学变量的精确值的时间演化行为相比较，分析了两者产生差异的因素，规则运动主要是和量子效应有关，而混沌运动则是和动力学效应有关，即与系统的动力学对称性破坏相联系。

A program based on four kinds of methods in thermal analysis is designed for finding out the mechanism of decomposition reaction of explosives and calculating their kinetic parameters. Compared with the Kissinger's method, the program here adopted has the advantage of exploring the reaction mechanism besieds a calculation of the kinetic parameters. Mechanism of decomposition of the explosive PYX was determined applying this program. The kinetic parameters of PYX calculated by non-isothermal integral meth...

以热分析理论为依据，摒弃了以往仅用一种热分析法进行反应动力学研究和近似假设─—炸药的热分解反应机理f＝（1—α）n所带来的弊病，采取4种热分析方法（等温积分法、等温微分法、非等温微分法、非等温积分法）相结合的方法，编制了计算程序，首先判断反应机理，然后求取动力学参数，用所编程序对PYX炸药的反应动力学进行了研究，用非等温法判断了PYX炸药的反应机理，并求得动力学参数，所求参数与Kissinger法求得的结果十分接近。

The national defence basic project as background and the dynamic model of cotrolled transfer matrix for multiple launch rocket was created in order to reduce the initial disturbance of rocket projectile. The causes that affect the angle change of orientation locator were analyzed by the engineering system dynamic theory base on multibody system transfer matrix method. The simulation of dispersion for multiple launch rocket was implementation, and the affect law between the angle of elevation and side deflection and the control parameters was acquired. The control module was installed on the orientation locator of multiple rocket launcher to control the initial disturbance of rocket that provide new method and theory base and show the engineering system dynamic base on the multibody system transfer matrix method is effective.

本文以国防基础科研项目为背景，建立了通过控制定向器角运动来减小火箭弹起始扰动的多管火箭受控多体系统动力学模型，应用基于多体系统传递矩阵法的工程系统动力学理论，进行了定向器角度运动的影响因素分析，进行了受控多管火箭炮发射动力学和密集度数值仿真，得到了定向器俯仰和侧偏角控制参数对俯仰角和侧偏角的影响规律，为在火箭炮定向器上加装控制集成模块控制火箭弹的起始扰动和射击精度提供了新思路和理论基础，也表明了基于多体系统传递矩阵法的工程系统动力学理论的有效性。

The concept of equivalent rotationally rigidity is offered and the formula of rotationally rigidity is obtained.

主要做了如下几个方面的工作：对伸臂位于顶部的单层框架—筒体模型进行分析，提出了等效转动约束的概念和转动约束刚度的表达式。

Male cats normally do not need aftercare with the exception of the night after the anesthetic.

男猫通常不需要善后除了晚上的麻醉。