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

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 multidomain engineering systems.