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| Implicit numerical algorithm for multibody dynamics with constraint equations |
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| DOI：10.7511/jslx19994069 |
| KeyWord:multibody system,canonical equation,implicit algorithm. |
| Wang Qi Huang Kelei Lu Qishao |
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| Abstract: |
| The implicit numerical algorithm for dynamics of multibody systems with constraint equations of motion was studied. The canonical equations for dynamics of multibody systems were used in the numerical algorithm. The Jacobian matrix used in implicit methods was obtained in the submatrix forms, that was very good in computational efficiency and suitable for many implicit numerical methods. The paper presented the diagonal implicit Runge Kutta method for multibody dynamics. The numerical results show that the computational efficiency and precision of implicit algorithms are better than that of explicit algorithms. |