Stabilization Method for the Numerical Integration of Controlled Multibody Mechanical System : A Hybrid Integration Approach

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概要

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• Simulation of a controlled multibody mechanical system, with a nonstiff mechanical subsystem and a stiff control subsystem, usually suffers from long run time. In this paper, a hybrid integration scheme combined with the constraint stabilization method is proposed to overcome this difficulty. The dynamic equations of motion of a constrained multibody mechanical system is a mixed differential-algebraic equation (DAE). The constraint stabilization method proposed by Baumgarte is used to integrate this equation. Correct choice of the α and β coefficients used in the constraint stabilization method is found. The hybrid integration scheme consists of two parts : a nonstiff integration algorithm for the mechanical subsystem and a stiff integration algorithm for the control subsystem. Simulation results show the computational efficiency of the proposed integration scheme.

• 一般社団法人日本機械学会の論文
• 2001-03-15

著者

• Hong Ming-Chong

  Department of Mechanical Engineering, National Chung-Hsing University

• Lin Shih-Tin

  Department of Mechanical Engineering, National Chung-Hsing University

関連論文

• Stabilization Method for the Numerical Integration of Controlled Multibody Mechanical System : A Hybrid Integration Approach

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