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| Precise numerical solution for multi-body system’s equations of motionbased on algorithm without constraint violation |
| Received:December 01, 2008 |
| View Full Text View/Add Comment Download reader |
| DOI：10.7511/jslx20105033 |
| KeyWord:multi-body system dynamics analysis differential algebraic equation constraint violation implicit Runge-Kutta method |
| Author | Institution |
| 刘颖 |
复旦大学 力学与工程科学系,上海 |
| 马建敏 |
复旦大学 力学与工程科学系,上海 |
| 苏芳 |
复旦大学 力学与工程科学系,上海 |
| 张文 |
复旦大学 力学与工程科学系,上海 |
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| Abstract: |
| The multi-body system’s equations of motion belong to differential algebraic equation (DAE) of index-3. For the constraint violation, the accuracy and stabilization of the constraint violation stabilization method (CVSM) is rather inadequate. In this paper, incorporating the theory of reducing-order for DAE of high index, ε embedding method and implicit Runge-Kutta method, a precise algorithm without constraint violation is presented. Applying the method, the constraint violation could be avoided. Firstly, the equations of motion are converted into DAE with index-2 and the displacement constraint equation remains. Secondly, implicit Runge-Kutta method embedded ε is applied to solve the equation directly. Using the two methods, respectively, a single-pendulum system is simulated. The results show that our method has better computational precision and stabilization than CVSM, even using large-steps. |
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