The traditional single - computer - oriented real - time task scheduling mechanism can not satisfy the requirements of distributed real - time object computing environment ( abbreviated as droce in this paper ) 传统的单机实时任务调度已经不能适应分布实时计算环境的要求。
3.
The content of this thesis comes from the fujian natural science found following research task 。 it studies on a space cantilever single beam attached to a moving support 。 inertia forces which are brought by the support ' s movement ， are acceded to the equivalent initiative forces and the equivalent initiative moments 。 when we consider the relation of the forces and deformation ， we change the method of material mechanical analysis to the elastic mechanical analysis 。 further more ， we discusses the feasibility of the method which uses the multi - rigid - body discrete model to simulate the dynamic characteristic of a elastic body 。 first ， the finite segment method is adopted to establish the models of the beam 。 based on kane ' s equations ， dynamic math - model for the beam are derived 。 and by use of c - language and runge - kutta procedure ， the computer - oriented procedure can give the whole responses of the beam 。 second ， with compare to the numerical examples ， the method which uses the multi - rigid - body discrete model to simulate the dynamic characteristic of a elastic body which is under the condition of movement is verified to be feasible 。 本论文为福建省自然科学基金后续研究课题，以已知支撑运动的单个空间悬臂梁为对象，在等效主动力与等效主动力矩中加入支撑转动引起的惯性力，并在考虑力与变形关系时，用更一般的弹性力学分析代替材料力学分析，进一步研究用多刚体离散模型来模拟其动力学特性的可行性。首先，用有限段建立机械臂的多刚体离散模型，用kane动力学方法建立其动力学方程。并用c语言编制算法程序，采用了四阶runge - kutta积分程序求解微分方程组，给出构件的全部动态历程。
