多体系统Euler-Lagrange方程数值计算的一类违约修正法

A stabilization of constraints for the numerical solution of Euler-Lagrange equation in multi-body system

分析了目前多体系统动力学运动仿真中违约修正的两种基本方法的特点及问题 ,对算法中的缺点作了改进 ,并把新的算法推广到约束方程组不满秩的情况 .文中给出了计算实例 .在运动仿真精度和违约修正精度两个不同的标准下对各种违约修正算法进行了比较分析 .

The most commonly used stabilization methods,for the solution of Euler Lagrange equation, Baumgarte method and direct stabilization method are discussed in this paper.A new method is raised to improve them.The new method is not only more efficient,but can deal with the system which constraints are dependent .there is a numerical example to show the use of new method in multi body system dynamics.