Beam-in-beam large sliding contact exists in simulations of drillstring-riser systems, offshore pipe-in-pipe systems, medical catheter-guidewire-stent systems, among others. Large sliding between the pipes may lead to discontinuity of contact force and non-sparsity of system Jacobian in numeric simulations, which then may result in non-physical disturbances and low efficiency. To overcome this phenomenon, a consistent-contact-force algorithm and a highly efficient implicit-integration scheme are proposed in this paper. Geometric treatments are applied in gap and overlap areas to obtain continuous contact force, in addition to contact-history-based fast detection. The contact force Jacobian is ignored as the flexible multibody system is solved with an inexact Newton iteration and an empirical formula is used to estimate the convergence conditions. Four numeric examples are computed to verify the presented method, including a buckling benchmark and a riser-recoil industrial application. The numeric results show that the proposed method is accurate and highly efficient.

在钻柱式立管系统，海上管道系统，医用导管-导线支架系统等的仿真中，存在束中大滑动接触。在数值模拟中，管道之间的较大滑动可能导致接触力的不连续和系统Jacobian的稀疏性，从而可能导致非物理干扰和低效率。为了克服这种现象，本文提出了一种一致接触力算法和一种高效的隐式积分方案。除了基于接触历史的快速检测之外，还对间隙和重叠区域进行了几何处理以获得连续的接触力。由于用不精确的牛顿迭代法求解了柔性多体系统，并且使用经验公式来估计收敛条件，因此忽略了接触力雅可比行列式。计算了四个数值示例来验证所提出的方法，包括屈曲基准和立管反冲工业应用。数值结果表明，该方法准确有效。