The dynamics of flexible multibody systems (FMBSs) is governed by ordinary differential equations or differential-algebraic equations, depending on the modeling approach chosen. In both the cases, the resulting models are highly nonlinear. Thus, they are not directly suitable for the application of the modal analysis and the development of modal models, which are very useful for several advanced engineering techniques (e.g., motion planning, control, and stability analysis of flexible multibody systems). To define and solve an eigenvalue problem for FMBSs, the system dynamics has to be linearized about a selected configuration. However, as modal parameters vary nonlinearly with the system configuration, they should be recomputed for each change of the operating point. This procedure is computationally demanding. Additionally, it does not provide any numerical or analytical correlation between the eigenpairs computed in the different operating points. This paper discusses a parametric modal analysis approach for FMBSs, which allows to derive an analytical polynomial expression for the eigenpairs as function of the system configuration, by solving a single eigenvalue problem and using only matrix operations. The availability of a similar modal model, which explicitly depends on the system configuration, can be very helpful for, e.g., model-based motion planning and control strategies towards to zero residual vibration employing the system modal characteristics. Moreover, it allows for an easy sensitivity analysis of modal characteristics to parameter uncertainties. After the theoretical development, the method is applied and validated on a flexible multibody system, specifically using the Equivalent Rigid Link System dynamic formulation. Finally, numerical results are presented and discussed.
Flexible-Link Multibody System Eigenvalue Analysis Parameterized with Respect to Rigid-Body Motion
