本文从虚功原理出发,在弹性小变形假设的前提下,采用模态坐标表示柔性体的弹性变形,推出了包括高阶非线性项在内的多体链系统动力学方程。以此为依据,编制了求解多体链系统动力响应的数值模拟程序,并对由二个柔性杆和由三个柔性杆组成的具有铰弹簧的系统在外驱动力矩作用下的动响应进行了数值模拟。文中分析和探讨了影响这类强非线性方程的数值解稳定性的问题,并提出了参数匹配的概念。 Based on the principle of virtual work, under the premise of small elastic deformation, modal coordinates are used to represent the elastic deformation of flexible body, and the dynamics equation of multi-body chain system including high-order nonlinearity is deduced. Based on this, a numerical simulation program for solving the dynamic response of multi-body chain system was developed. The dynamic response of the system with two hinge-spring systems consisting of two flexible rods and three flexible rods under external driving torque was numerically simulation. In this paper, we analyze and discuss the problem of numerical stability that affects such strongly nonlinear equations, and put forward the concept of parameter matching.