多体系统动力学微分/代数方程组的一类新的数值分析方法

A New Algorithm for Solving Differential/Algehraic Equations of Multibody System Dynamics

本文讨论了多体系统动力学微分／代数混合方程组的数值离散问题．首先把参数t并入广义坐标讨论，简化了方程组及其隐含条件的结构，并将其化为指标1的方程组．然后利用方程组的特殊结构，引入一种局部离散技巧并构造了相应的算法．算法结构紧凑，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的实施．文末给出了具体算例．

The second order Ether-Lagrange oquations are transformed to a set of first order differential/algebraic equations, which are thed transformed to state equations by using local parameterization. The corresponding discretization method is presented , and the results can be used to implementation of various numerical integration methods. A numerical example is presented finally.