Author(s) :
Andreas Steinbrecher
Preprint series of the Institute of Mathematics, Technische Universität Berlin
Preprint 742-2002
MSC 2000
- 70E55 Dynamics of multibody systems
-
65L80 Methods for differential-algebraic equations
Abstract :
Different types of solution behavior for
equations of motion of multibody systems with respect
to deviate from the solution manifold and numerical instabilities
are considered.
An algorithm is presented that
reduces the index of linear and nonlinear equations
of motion of multibody systems in the usually used form
by preserving all information about the solution manifold.
The reduction is obtained by analyzing only
the constraint matrix, the mass matrix and the transformation matrix.
This technique allows the
construction of a strangeness-free form which is suitable
for numerical integration using stiff ODE solvers.
The here presented algorithm is the generalization of
the already developed algorithm for linear equations of motion.
The obtained results are illustrated by a numerical example.
Keywords :
multibody systems, equations of motion, solution manifold, deviation, index reduction, strangeness