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Geometric properties of projective constraint violation stabilization method for generally constrained multibody systems on manifolds (CROSBI ID 140528)

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Terze, Zdravko ; Naudet, Joris Geometric properties of projective constraint violation stabilization method for generally constrained multibody systems on manifolds // Multibody system dynamics, 20 (2008), 1; 107-107. doi: 10.1007/s11044-008-9107-5

Podaci o odgovornosti

Terze, Zdravko ; Naudet, Joris

engleski

Geometric properties of projective constraint violation stabilization method for generally constrained multibody systems on manifolds

During numerical forward dynamics of constrained multibody systems, a numerical violation of system kinematical constraints is the important issue that has to be properly treated. In this paper, the stabilized time-integration procedure, whose constraint stabilization step is based on the projection of integration results to underlying constraint manifold via post-integration correction of the selected coordinates is discussed. A selection of the coordinates is based on the optimization algorithm for coordinates partitioning. After discussing geometric background of the optimization algorithm, new formulae for optimized partitioning of the generalized coordinates are derived. Beside in the framework of the proposed stabilization algorithm, the new formulae can be used for other integration applications where coordinates partitioning is needed. Holonomic and non-holonomic systems are analyzed and optimal partitioning at the position and velocity level are considered further. By comparing the proposed stabilization method to other projective algorithms reported in the literature, the geometric and stabilization issues of the method are addressed. A numerical example that illustrates application of the method to constraint violation stabilization of non-holonomic multibody system is reported.

Constraint violation stabilization; Optimized partitioning of generalized coordinates; Projective stabilization methods; Manifolds

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Podaci o izdanju

20 (1)

2008.

107-107

objavljeno

1384-5640

10.1007/s11044-008-9107-5

Povezanost rada

Strojarstvo, Zrakoplovstvo, raketna i svemirska tehnika, Matematika

Poveznice
Indeksiranost