Naslov
Lie Group Integration Method for Constrained Multibody Systems

Autori
Terze, Zdravko ; Zlatar, Dario ; Mueller, Andreas

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

Izvornik
Proceedings of the Multibody Dynamics, ECCOMAS 2011 / Jean-Claude Samin and Paul Fisette - Brisel : Universite catholique de Louvain, 2011, 1-9

ISBN
978-2-8052-0116-5

Skup
Multibody Dynamics 2011, An ECCOMAS Thematic Conference

Mjesto i datum
Bruxelles, Belgija, 04.07.2011. - 07.07.2011

Vrsta sudjelovanja
Pozvano predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Lie-groups; Multibody Systems Dynamics; Numerical Integration Methods; DAE systems; Constraint Violation Stabilization; Manifolds; Munthe-Kaas method

Sažetak
A Lie-group integration method for constrained multibody systems is proposed in the paper. Mathematical model of multibody system dynamics is shaped as DAE system of equations of index 1, while dynamics is evolving on Lie-group introduced as system ‘state space formulation’. Integration algorithm operates directly with angular velocities and rotational matrices and no local (generalized) coordinates are introduced. The basis of the method is Munthe-Kaas algorithm for ODE on Lie-groups, which is re-formulated and expanded to be applicable for the integration of constrained multibody dynamics, where constraint violation stabilization is one of the important issues that must be successfully solved.

Izvorni jezik
Engleski

Znanstvena područja
Matematika, Strojarstvo, Zrakoplovstvo, raketna i svemirska tehnika

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