Naslov
Null space integration method for constrained multibody system simulation with no constraint violation

Autori
Terze, Zdravko ; Lefeber, Dirk ; Muftić, Osman

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Advances in Computational Multibody Dynamics, Euromech Colloquium 404 / Ambrosio, Jorge ; Schiehlen, Werner - Lisabon : IDMEC, Lisboa, 1999, 789-799

Skup
Advances in Computational Multibody Dynamics, Euromech Colloquium 404

Mjesto i datum
Lisabon, Portugal, 20.09.1999. - 23.09.1999

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA