Lie Group Integration Method for Constrained Multibody Systems

Terze, Zdravko and Zlatar, Dario and Mueller, Andreas (2011) Lie Group Integration Method for Constrained Multibody Systems. = Lie Group Integration Method for Constrained Multibody Systems. In: Multibody Dynamics 2011, An ECCOMAS Thematic Conference, 04-07.07.2011., Brisel, Belgija.

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Abstract

A Lie-group integration method for constrained multibody systems is proposed in the paper. Mathematical model of multibody system dynamics is shaped as DAE system of equations of index 1, while dynamics is evolving on Lie-group introduced as system ‘state space formulation’. Integration algorithm operates directly with angular velocities and rotational matrices and no local (generalized) coordinates are introduced. The basis of the method is Munthe-Kaas algorithm for ODE on Lie-groups, which is re-formulated and expanded to be applicable for the integration of constrained multibody dynamics, where constraint violation stabilization is one of the important issues that must be successfully solved.

Item Type: Conference or Workshop Item (Other)
Keywords (Croatian): Lie-groups, Multibody Systems Dynamics, Numerical Integration Methods, DAE systems, Constraint Violation Stabilization, Manifolds, Munthe-Kaas method
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
Date Deposited: 22 Sep 2016 13:41
Last Modified: 22 Sep 2016 13:41
URI: http://repozitorij.fsb.hr/id/eprint/6976

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