,
Review of Classical Approaches for Constraint Enforcement in Multibody Systems
Journal of Computational and Nonlinear Dynamics, 3 (1): 011004+ (2008)
DOI: 10.1115/1.2803257
Аннотация
A hallmark of multibody dynamics is that most formulations involve a number of constraints. Typically,
when redundant generalized coordinates are used, equations of motion are simpler to derive but constraint
equations are present. Approaches to dealing with
high index differential algebraic equations, based on in-
dex reduction techniques, are reviewed and discussed.
Constraint violation stabilization techniques that have
been developed to control constraint drift are also reviewed. These techniques are used in conjunction with
algorithms that do not exactly enforce the constraints.
Control theory forms the basis for a number of these
methods. Penalty based techniques have also been developed, but the augmented Lagrangian formulation
presents a more solid theoretical foundation. In con-
trast to constraint violation stabilization techniques,
constraint violation elimination techniques enforce exact satisfaction of the constraints, at least to machine
accuracy. Finally, as the finite element method has
gained popularity for the solution of multibody systems, new techniques for the enforcement of constraints
have been developed in that framework. The goal of this paper is to review the features of these methods,
assess their accuracy and efficiency, underline the re-
lationship among the methods, and recommend ap-
proaches that seem to perform better than others.
тэги
- 34a09-implicit-odes-daes
- 65l80-numerical-daes
- 70-02-mechanics-of-particles-and-systems-research-exposition
- 70e55-dynamics-of-multibody-systems
- 70h45-constrained-dynamics-diracs-theory-of-constraints
