An automatic constraint violation stabilization method for differential/ algebraic equations of motion in multibody system dynamics

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An index 0 Differential-Algebraic equation formulation for multibody dynamics: Holonomic constraints

The Lagrange multiplier form of index 3 differential-algebraic equations of motion for holonomically constrained multibody systems is transformed using tangent space generalized coordinates to an index 0 form that is equivalent to an ordinary differential equation. The index 0 formulation includes embedded tolerances that assure satisfaction of position, velocity, and acceleration constraints and is solved using established explicit and implicit numerical integration methods. Numerical experiments with two spatial applications show that the formulation accurately satisfies constraints, preserves invariants due to conservation laws, and behaves as if applied to an ordinary differential equation.     

On the use of linear graph theory in multibody system dynamics

Multibody dynamics involves the generation and solution of the equations of motion for a system of connected material bodies. The subject of this paper is the use of graph-theoretical methods to represent multibody system topologies and to formulate the desired set of motion equations; a discussion of the methods available for solving these differential-algebraic equations is beyond the scope of this work. After a brief introduction to the topic, a review of linear graphs and their associated topological arrays is presented, followed in turn by the use of these matrices in generating various graph-theoretic equations. The appearance of linear graph theory in a number of existing multibody formulations is then discussed, distinguishing between approaches that use absolute (Cartesian) coordinates and those that employ relative (joint) coordinates. These formulations are then contrasted with formal graph-theoretic approaches, in which both the kinematic and dynamic equations are automatically generated from a single linear graph representation of the system. The paper concludes with a summary of results and suggestions for further research on the graph-theoretical modelling of mechanical systems.     

An index 0 differential-algebraic equation formulation for multibody dynamics: Nonholonomic constraints

A method is presented for formulating and numerically integrating index 0 differential-algebraic equations of motion for multibody systems with holonomic and nonholonomic constraints. Tangent space coordinates are defined in configuration and velocity spaces as independent generalized coordinates that serve as state variables in the formulation. Orthogonal dependent coordinates and velocities are used to enforce position, velocity, and acceleration constraints to within specified error tolerances. Explicit and implicit numerical integration algorithms are presented and used in solution of three examples: one planar and two spatial. Numerical results verify that accurate results are obtained, satisfying all three forms of kinematic constraint to within error tolerances embedded in the formulation.     

A METHOD FOR SOLVING THE DYNAMICS OF MULTIBODY SYSTEMS WITH RHEONOMIC AND NONHOLONOMIC CONSTRAINTS

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Finite element modeling of contact conditions in multibody system dynamics

In this paper a new method is developed for the dynamic analysis of contact conditions in flexible multibody systems undergoing a rolling type of motion. The relative motion between the two contacting bodies is treated as a constraint condition describing their kinematic and geometric relations. Equations of motion of the system are presented in a matrix form making use of Kane's equations and finite element method. The method developed has been implemented in a general purpose program called DARS and applied to the simulation and analysis of a rotating wheel on a track. Both the bodies are assumed flexible and discretized using a three dimensional 8-noded isoparametric elements. The time variant constraint conditions are imposed on the nodal points located at the peripheral surfaces of the bodies under consideration. The simulation is carried out under two different boundary conditions describing the support of the track. The subsequent constraint forces associated with the generalized coordinates of the system are computed and plotted. The effects of friction are also discussed.     

NUMERICAL METHOD AND APPLICATION FOR THREEDIMENSIONAL NONLINEAR SYSTEM OF DYNAMICS OF FLUIDS IN POROUS MEDIA

For the system of multilayer dynamics of fluids in porous media, the second order upwind finite difference fractional steps schemes applicable to parallel arithmetic are put forward. Some techniques, such as calculus of variations, energy method, multiplicative commutation rule of difference operators, decomposition of high order difference operators and prior estimates are adopted. Optimal order estimates are derived to determine the error in the second order approximate solution. These methods have already been applied to the numerical simulation of migration-accumulation of oil resources.     

NUMERICAL METHOD FOR THREE-DIMENSIONAL NONLINEAR CONVECTION-DOMINATED PROBLEM OF DYNAMICS OF FLUIDS IN POROUS MEDIA

For the three-dimensional convection-dominated problem of dynamics of fluids in porous media, the second order upwind finite difference fractional steps schemes applicable to parallel arithmetic are put forward. Fractional steps techniques are needed to convert a multi-dimensional problem into a series of successive one-dimensional problems. Some techniques, such as calculus of variations, energy method, multiplicative commutation rule of difference operators, decomposition of high order difference operators, and the theory of prior estimates are adopted. Optimal order estimates are derived to determine the error in the second order approximate solution. These methods have already been applied to the numerical simulation of migration-accumulation of oil resources and predicting the consequences of seawater intrusion and protection projects.