Angular momentum conserving integration scheme for multibody system dynamics in Lie-group setting

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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