Terze, Zdravko and Mueller, Andreas and Zlatar, Dario (2013) Störmer-Verlet integration scheme for multibody system dynamics in lie-group setting. = Störmer-Verlet integration scheme for multibody system dynamics in lie-group setting. In: ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013, 04-07.08.2013., Portland, OR; United States.
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Abstract
Störmer-Verlet integration scheme has many attractive properties when dealing with ODE systems in linear spaces: it is explicit, 2nd order, linear/angular momentum preserving and it is symplectic for Hamiltonian systems. In this paper we investigate its application for numerical simulation of the multibody system dynamics (MBS) by formulating Störmer- Verlet algorithm for the rotational rigid body motion in Lie-group setting. Starting from the investigations on the single free rigid body rotational dynamics, the paper introduces modified RATTLE integration scheme with the direct SO(3) rotational update. Furthermore, non-canonical Lie-group Störmer-Verlet integration scheme is presented through the different derivation stages. Several presented numerical examples show excellent conservation properties of the proposed geometric algorithm. Copyright © 2013 by ASME.
Item Type: | Conference or Workshop Item (Lecture) |
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Keywords (Croatian): | Design; Integration; Lie groups; Rigid structures; System theory; Conservation properties; Geometric algorithm; Hamiltonian systems; Integration scheme; Momentum preserving; Multi-body system dynamics; Rotational dynamics; Verlet algorithms; Hamiltonians |
Subjects: | TECHNICAL SCIENCE |
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 (4.5.2015.) |
Date Deposited: | 04 May 2015 12:51 |
Last Modified: | 04 May 2015 12:51 |
URI: | http://repozitorij.fsb.hr/id/eprint/4094 |
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