| CONSTRAINT VIOLATION STABILIZATION OF EULER-LAGRANGE EQUATIONS WITH NON-HOLONOMIC CONSTRAINTS |
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| 作者姓名： | ZhaoWeijia PanZhenkuan ChenLiqun |
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| 作者单位： | Zhao Weijia Pan Zhenkuan Chen Liqun
(Department of Mathematics，Qingdao University，Qingdao 266071，China) (Shanghai Institute of Applied Mathematics and Mechanics，Shanghai 200072，China) |
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| 摘 要： | Two constraint violation stabilization methods are presented to solve the Euler Lagrange equations of motion of a multibody system with nonholonomic constraints. Compared to the previous works, the newly devised methods can deal with more complicated problems such as those with nonholonomic constraints or redundant constraints, and save the computation time. Finally a numerical simulation of a multibody system is conducted by using the methods given in this paper.
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| 关 键 词： | 欧拉-拉格朗日方程 稳定性 多体系统运动 不完整约束 数学物理方法 |
| 收稿时间： | 28 November 2002 |
Constraint Violation Stabilization of Euler-Lagrange Equations with Non-Holonomic Constraints |
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| ZhaoWeijia PanZhenkuan ChenLiqun.CONSTRAINT VIOLATION STABILIZATION OF EULER-LAGRANGE EQUATIONS WITH NON-HOLONOMIC CONSTRAINTS[J].Acta Mechanica Solida Sinica,2004,17(1):45-51. |
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| Authors: | Weijia Zhao Zhenkuan Pan and Liqun Chen |
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| Institution: | (1) Department of Mathematics, Qingdao University, 266071 Qingdao, China;(2) Shanghai Institute of Applied Mathematics and Mechanics, 200072 Shanghai, China |
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| Abstract: | Two constraint violation stabilization methods are presented to solve the Euler Lagrange equations of motion of a multibody system with nonholonomic constraints. Compared to the previous works, the newly devised methods can deal with more complicated problems such as those with nonholonomic constraints or redundant constraints, and save the computation time. Finally a numerical simulation of a multibody system is conducted by using the methods given in this paper. |
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| Keywords: | Euler-Lagrange equation nonholonomic constraint constraint violation stabiliza- tion redundant constraint |
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