多体系统Euler-Lagrange方程数值求解的一种违约稳定性方法

A Stabilization of Constraints in the Numerical Solution of Euler-Lagrange Equation

分析了目前多体系统动力学运动仿真中实现违约稳定性的两种基本方法,利用Taylor展式对违约稳定性的直接修正法作了修改。并讨论了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。

In this paper, the most commonly used stabilization methods, for the solution of eulerlagrange equation, baungarte method and direct stabilization method, are discussed. 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.