Null space integration method for constrained multibody system simulation with no constraint violation (CROSBI ID 468065)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Terze, Zdravko ; Lefeber, Dirk ; Muftić, Osman
engleski
Null space integration method for constrained multibody system simulation with no constraint violation
A method for the integration of the equations of motion of constrained multibody systems in descriptor form with no constraint violation is presented. The mathematical model, shaped as a differential-algebraic system of index 1 [1], is transformed to an ordinary differential equations' system (ODE) using a null-space projection method [2]. The dynamical equations are set in a non-minimal form. During integration, the violations of constraints are corrected by solving the constraint equations, utilising the metric of system's configuration space and an orthogonal-complement matrix of the system's Jacobian [3]. Since the constraint violation is one of the basic sources of errors of an integration procedure, the method allows for accurate and robust dynamical simulation of the multibody system's motion. It is stable and compatible with most frequently used ODE solvers.
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Podaci o prilogu
789-799-x.
1999.
objavljeno
Podaci o matičnoj publikaciji
Advances in Computational Multibody Dynamics, Euromech Colloquium 404
Ambrosio, Jorge ; Schiehlen, Werner
Lisabon: IDMEC, Lisboa
Podaci o skupu
Advances in Computational Multibody Dynamics, Euromech Colloquium 404
predavanje
20.09.1999-23.09.1999
Lisabon, Portugal