Störmer-Verlet integration scheme for multibody system dynamics in lie-group setting

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)
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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