Comparison of solution strategies for multibody dynamics equations

In the last decades, several different formalisms have been proposed in the literature in order to simulate the dynamics of multibody systems. First, the choice of the coordinates leads to very different formalisms. The set of constraint equations appears very different in complexity or in size depe...

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Veröffentlicht in:International journal for numerical methods in engineering Jg. 88; H. 7; S. 637 - 656
Hauptverfasser: Mariti, L., Belfiore, N. P., Pennestrì, E., Valentini, P. P.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Chichester, UK John Wiley & Sons, Ltd 18.11.2011
Wiley
Schlagworte:
Computer simulation
DAE system
Dynamics
Exact sciences and technology
Formalism
Fundamental areas of phenomenology (including applications)
Mathematical analysis
Mathematical models
Mathematics
multibody dynamics
Multibody systems
Numerical analysis
Numerical analysis. Scientific computation
Numerical approximation
numerical methods
Physics
Redundant
Sciences and techniques of general use
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
Strategy
numerical methods
multibody dynamics
Constraint
Redundancy
Solid dynamic
Pseudoinverse
N body system
Cartesian coordinate
Dynamical system
Real time
Modeling
Complexity
DAE system
Computation time
Orthogonalization
Least squares method
ISSN:0029-5981, 1097-0207, 1097-0207
Online-Zugang:Volltext
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Beschreibung
Zusammenfassung:In the last decades, several different formalisms have been proposed in the literature in order to simulate the dynamics of multibody systems. First, the choice of the coordinates leads to very different formalisms. The set of constraint equations appears very different in complexity or in size depending on whether either relative, natural or reference point Cartesian coordinates are adopted. Second, once such a choice has been made, different solution strategies can be followed. It seems that formalisms based on redundant coordinates are often used in commercial software, whereas those based on a minimum number of coordinates are usually preferred in real‐time computations. In this paper, with reference to models with redundant absolute coordinates, the problem of coordinate reduction will be discussed and a group of 11 different methods will be compared on the basis of their computational efficiency. In particular, methods based on constraint orthogonalization and on the use of pseudoinverse matrices have been selected, together with other methods based on least‐squares block solution. The methods have been implemented on three different test cases. The main purpose is to provide hints and guidelines on the choice and availability of solution strategies during simulation of moderate size multibody systems. Copyright © 2011 John Wiley & Sons, Ltd.
Bibliographie:istex:A2762931DDE6EC5E4B897DA1EF753426B937D237
ark:/67375/WNG-CNZSVKJS-Q
ArticleID:NME3190
ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0029-5981
1097-0207
1097-0207
DOI:10.1002/nme.3190