ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

In order to realize the stable and precision control of elastic beams in large overall rotation at high speed, its nonlinear dynamic model must be built and the decoupling work should be completed. Flexible rod was assumed by Euler-Bernoulli beam. The approach of assumed modes was applied to discrete the coordinates, and the Galerkin method and Hamilton principle were adopted to establish the flexible dynamic model. The regular perturbation formula was deduced with perturbation theory. Multiscale method was used to improve the perturbation formula by separating two-time parameters. The decoupling accuracy was deeply analyzed for the regular perturbation method and the improved perturbation method.The validity and feasibility of the proposed method were verified by Runge-Kutta method. The simulation data indicated that the improved perturbation solution owned high decoupling accuracy, little computation and good rapidity. The problem of low decoupling accuracy was solved compared with the common regular perturbation method which was limited by effective time series. The proposed decoupling method also avoided much calculation caused by high-order perturbation to improve the computation’s accuracy. It provided an important theoretical basis and data support for dynamic decoupling about complex multi-body flexible systems.