具有相关约束多体动力学Euler-Lagrange方程:问题和数值方法(英文)

MULTIBODY SYSTEM WITH DEPENDENT CONSTRAINTS: THE PROBLEM AND NUMERICAL METHODS

本文探讨了相关约束多体动力学Euler-Lagrange方程的求解问题。在分析相关约束问题数值计算的实际意义和有关理论的基础上,给出了一类数值计算方法。算法在增加的计算量不大的情况下,把过去只能计算满秩约束的算法推广到约束不满秩的情况。

In this paper, the Euler-Lagrange equation system with dependent constraints is discussed and a new numerical method is raised to deal with the problem. The new method, though requiring little additional computation, can deal with the problems with dependent constraints as well as those with independent onesSome theorems and numerical examples are given in this paper to verify the correctness and efficiency of the method.