多体系统力学微分／代数方程组的一类紧凑算法

A NEW ALGORITHM FOR SOLVING DIFFERENTIAL/ALGEBRAIC EQUATIONS OF MOTION OF MULTIBODY SYSTEMS

本文提出了多体系统动力学微分／代数混合方程组的一类紧凑算法．首先把参数ｔ并入广义坐标讨论，简化了方程组及其隐含约束条件的结构；然后根据简化后的方程组的特殊结构，引入一类局部离散方法．这一算法结构简单，易于编程，具有较高的计算效率和良好的数值性态，且其形式适合于各种数值积分方法的实施．

new method for solving the differential/algebraic equations of motion of multibody systems is presented in this paper.The Euler-- Lagrange equations are transformed to a set of first order differential/algebraic equations, which are then transformed to state equations by using local parametrization.The results are suitable for implementation of various numerical integration methods.