Terze, Zdravko and Müller, Andreas and Zlatar, Dario (2013) Angular momentum conserving integration scheme for multibody system dynamics in Lie-group setting. = Angular momentum conserving integration scheme for multibody system dynamics in Lie-group setting. In: ECCOMAS Thematic Conference on Multibody Dynamics 2013, 01-04.07.2013., Zagreb; Croatia.
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Abstract
In many engineering applications, such as satellite dynamics or various case-studies of the specific locomotion patterns in mechatronics and biomechanics, motion integrals of the system need to be conserved during numerical integration in order to reflect global physical properties of the analysed motion. Derivation of such integration schemes in Lie-group settings should be especially efficient since Lie-group dynamical models operate directly on SO(3) rotational matrices and angular velocities, avoiding local rotation parameters and artificial algebraic constraints as well as kinematical differential equations (differential equations that relate body rotation parameters’ derivatives and angular velocity). In this paper, different mathematical models and angular momentum conserving integration schemes, based on Lie-group DAE index 1 formulation of the system dynamics, will be investigated and tested through the several case-studies, such as satellite dynamics with the internal kinematical chain.
| Item Type: | Conference or Workshop Item (Lecture) |
|---|---|
| Keywords (Croatian): | Lie-groups, Numerical Integration Methods, DAE systems, Angular Momentum Conservation, Constraint Violation Stabilization |
| Subjects: | NATURAL SCIENCES > Mathematics TECHNICAL SCIENCE > Mechanical Engineering TECHNICAL SCIENCE > Aviation, rocket and space technology |
| Divisions: | 1300 Department of Aeronautical Engineering > 1320 Chair of Aircraft Dynamics |
| Indexed in Web of Science: | No |
| Indexed in Current Contents: | No |
| Citations SCOPUS: | 0 (12.5.2015.) |
| Date Deposited: | 12 May 2015 12:36 |
| Last Modified: | 12 May 2015 12:36 |
| URI: | http://repozitorij.fsb.hr/id/eprint/4015 |
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