IMPLICIT NUMERICAL-INTEGRATION OF CONSTRAINED EQUATIONS OF MOTION VIA GENERALIZED COORDINATE PARTITIONING

被引：25

作者：

HAUG, EJ

YEN, J

机构：

[1] Center for Simulation and Design Optimization, Departments of Mechanical Engineering and Mathematics, The University of Iowa, Iowa City, IA

来源：

JOURNAL OF MECHANICAL DESIGN | 1992年 / 114卷 / 02期

关键词：

D O I：

10.1115/1.2916946

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 [机械工程];

摘要：

An implicit, stiffly stable numerical integration algorithm is developed and demonstrated for automated simulation of multibody dynamic systems. The concept of generalized coordinate partitioning is used to parameterize the constraint set with independent generalized coordinates. A stiffly stable, Backward Differentiation Formula (BDF) numerical integration algorithm is used to integrate independent generalized coordinates and velocities. Dependent generalized coordinates, velocities, and accelerations, as well as Lagrange multipliers that account for constraints, are explicitly retained in the formulation to satisfy all of the governing kinematic and dynamic equations. The algorithm is shown to be valid and accurate, both theoretically and through solution of an example.

引用

页码：296 / 304

页数：9

共 23 条

[1]

(1981)

[2]

(1987)

[3]

Roberson R.E., The Path Matrix of a Graph, Its Construction and Its Use in Evaluating Certain Products, Computer Methods in Applied Mechanics and Engineering, 24, pp. 47-56, (1984)

[4]

Wittenburg J., Dynamics of Systems of Rigid Bodies, (1977)

[5]

Wittenburg J., Wolz U., MESA VERDE: A Symbolic Program for Nonlinear Articulated Rigid Body Dynamics, (1985)

[6]

Bae D.S., Hwang R.S., Haug E.J., A Recursive Formulation for Real-Time Dynamic Simulation, A Dvances in Design a Utomation, pp. 499-508, (1988)

[7]

Hwang R.S., Bae D.S., Haug E.J., Kuhl J.G., Parallel Processing for Real-Time Dynamic System Simulation, Advances in Design Automation, pp. 509-518, (1988)

[8]

Petzold L., Differential/Algebraic Equations are not ODEs, SIAM J. Sei. Stat. Comput., 3, 3, pp. 367-384, (1982)

[9]

Gear C.W., Petzold L.R., ODE Methods for the Solution of Differential/Algebraic Systems, SIAM J. Num. Anal., 21, 4, pp. 716-728, (1984)

[10]

Wehage R.A., Haug E.J., Generalized Coordinates Partitioning for Dimension Reduction in Analysis of Constrained Dynamic System, ASME Journal of Mechanical Design, 104, pp. 247-255, (1982)

← 1 2 3 →