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.     

多体系统动力学方程违约修正的数值计算方法

多体系统动力学方程为微分代数方程,一般将其转化成常微分方程组进行数值计算,在数值积分的过程中约束方程的违约会逐渐增大.本文对具有完整、定常约束的多体系统,在修改的带乘子Lagrange正则形式的方程的基础上,根据Baumgarte提出的违约修正的方法,给出了一种多体系统微分代数方程违约修正法和系统的动力学方程的矩阵表达式.通过对曲柄-滑块机构的数值仿真,计算结果表明本文给出的方法在计算精度和计算效率上好于Baumgarte提出的两种违约修正的方法.     

Lie Algebraic Control for the Stabilization of Nonlinear Multibody System Dynamics Simulation

It is well known that when equations of motion are formulated using Lagrange multipliers for multibody dynamic systems, one obtains a redundant set of differential algebraic equations. Numerical integration of these equations can lead to numerical difficulties associated with constraint violation drift. One approach that has been explored to alleviate this difficulty has been contraint stabilization methods. In this paper, a family of stabilization methods are considered as partial feedback linearizing controllers. Several stabilization methods including the range space method, null space method, Baumgarte's method, and the damping and stiffness penalty methods are examined. Each can be construed as a particular partial feedback linearizing controller. The paper closes by comparing several of these constraint stabilization methods to another method suggested by construction: the variable structure sliding (VSS) control. The VSS method is found to be the most efficient, stable, and robust in the presence of singularities.     

On the Computer Formulations of the Wheel/Rail Contact Problem

In this investigation, four nonlinear dynamic formulations that can be used in the analysis of the wheel/rail contact are presented, compared and their performance is evaluated. Two of these formulations employ nonlinear algebraic kinematic constraint equations to describe the contact between the wheel and the rail (constraint approach), while in the other two formulations the contact force is modeled using a compliant force element (elastic approach). The goal of the four formulations is to provide accurate nonlinear modeling of the contact between the wheel and the rail, which is crucial to the success of any computational algorithm used in the dynamic analysis of railroad vehicle systems. In the formulations based on the elastic approach, the wheel has six degrees of freedom with respect to the rail, and the normal contact forces are defined as function of the penetration using Hertzs contact theory or using assumed stiffness and damping coefficients. The first elastic method is based on a search for the contact locations using discrete nodal points. As previously presented in the literature, this method can lead to impulsive forces due to the abrupt change in the location of the contact point from one time step to the next. This difficulty is avoided in the second elastic approach in which the contact points are determined by solving a set of algebraic equations. In the formulations based on the constraint approach, on the other hand, the case of a non-conformal contact is assumed, and nonlinear kinematic contact constraint equations are used to impose the contact conditions at the position, velocity and acceleration levels. This approach leads to a model, in which the wheel has five degrees of freedom with respect to the rail. In the constraint approach, the wheel penetration and lift are not permitted, and the normal contact forces are calculated using the technique of Lagrange multipliers and the augmented form of the system dynamic equations. Two equivalent constraint formulations that employ two different solution procedures are discussed in this investigation. The first method leads to a larger system of equations by augmenting all the contact constraint equations to the dynamic equations of motion, while in the second method an embedding procedure is used to obtain a reduced system of equations from which the surface parameter accelerations are systematically eliminated. Numerical results are presented in order to examine the performance of various methods discussed in this study.     

拱形金属薄膜非线性力学行为数学建模及其计算

对大变形金属薄膜结构塑性应力应交关系、几何关系和静力平衡关系进行整理和适当交换，将其转化成由3个微分方程和1个代数约束方程组成的初值问题的1阶微分代数方程。采用可变步长和交阶的Klopfenstein-Shampine数值微分方法和Newton-Raphson求解方法，可求得膜片任何位置在任意时刻的应力、应交和变形等力学参量，还可以估算出膜片的极限荷载。最后对一个实例作了数值分析，其计算结果与实验数据得到了较好的符合。     

Differential-algebraic equations of programmed motions of Lagrangian dynamical systems

We suggest a method for constructing the dynamic equations of manipulator systems in canonical variables. The system of differential dynamic equations has an integral manifold corresponding to the holonomic and nonholonomic constraint equations. The controls are determined so as to ensure the stability of this manifold. We state conditions for the exponential stability of the manifold and for constraint stabilization when solving the dynamic equations numerically by a simplest difference method. We also present the solution of the problem of control of a plane two-link manipulator.     

A divide and conquer algorithm for constrained multibody system dynamics based on augmented Lagrangian method with projections-based error correction

This paper presents a?new parallel algorithm for dynamics simulation of general multibody systems. The developed formulations are iterative and possess divide and conquer structure. The constraints equations are imposed at the acceleration level. Augmented Lagrangian methods with mass-orthogonal projections are used to prevent from constraint violation errors. The proposed approaches treat tree topology mechanisms or multibody systems which contain kinematic closed loops in a?uniform manner and can handle problems with rank deficient Jacobian matrices. Test case results indicate good accuracy performance dependent on the expense put in the iterative correction of constraint equations. Good numerical properties and robustness of the algorithms are observed when handling systems with single and coupled kinematic loops, redundant constraints, which may repeatedly enter singular configurations.     

Linear and nonlinear analysis of stiffened plates

An analysis is presented for the large deflection of clamped laterally loaded skew plates with stiffeners parallel to the skew directions. The governing nonlinear differential equations are derived taking into account the eccentricity of the stiffeners. A numerical procedure involving the use of integral equations of beams and the Newton-Raphson method is employed to get the solution. Numerical work has been done. The effect of variation of skew angle and size of stiffener on the behaviour of the stiffened skew plate has been studied.     

可展桁架结构展开过程分析

提出了一种分析构架式结构展开过程的有效算法。基于含多余广义坐标的动力学普遍方程 ,利用约束雅可比矩阵的零空间基引入一组准速率 ,得到独立的展开过程分析的动力学微分方程。为提高展开模拟的数值精度 ,文中提出了一种控制展开过程几何违约、速度违约和能量违约的数值稳定算法。该算法求解效率高 ,能和任意数值积分方法结合使用 ,能分析大型的构架式可展结构的展开过程     

The Kinematics and the Full Minimal Dynamic Model of a 6-DOF Parallel Robot Manipulator

In this paper we present a particular architecture of parallel robots which has six-degrees-of-freedom (6-DOF) with only three limbs. The particular properties of the geometric and kinematic models with respect to that of a classical parallel robot are presented. We show that inverse problems have an analytical solution. However, to solve the direct problems, an efficient numerical procedure which needs to inverse only a 3 × 3 passive Jacobian matrix is proposed. In a second step, dynamic equations are derived using the Lagrangian formalism where the joint variables are passive and active joint coordinates. Based on the geometrical properties of the robot, the equations of motion are derived in terms of only nine coordinates related by three kinematic constraints instead of 18 joint coordinates. The computational cost of the dynamic model obtained is reduced by using a minimum set of base inertial parameters.     

Analysis of impact interactions in dynamics of many-body mechanical systems

Nowadays, methods for representing the dynamic equations of coupled systems of bodies in a form suitable for numerical solution are used widely. On the basis of such approaches, universal software aimed at solving certain classes of problems is developed [1–3].In design diagrams of mechanical systems, it is necessary to take into account various nonlinearities, including those of impact type. The representation of impact interactions with the use of nonlinear characteristics of positional forces results in increased stiffness of the system of differential equations and increased time expenditures for the solution, because it is necessary to decrease the integration step or use implicit integration methods.In this connection, it is expedient to consider approaches based on assumptions of the impact theory, i.e., the assumptions that the time of impact interaction is negligibly small and the impact is absolutely inelastic or partially elastic.In the general statement, an impact in a system with arbitrarily many stationary and impact constraints was studied in [4], where a special term—system impact—was introduced to denote this problem, showing that the constant and discontinuous constraints are multidimensional.In the present paper, we give a method for the numerical implementation of the methods proposed in [4] with the use of the FRUND software designed for modeling the dynamics of systems of rigid and elastic bodies [2]. We analyze the efficiency of their application.According to [4], the system impact problem is stated as follows. For a many-body mechanical system with arbitrary kinematic constraints, it is required to determine the impact discontinuity of velocities as the number of constraints varies instantaneously.     

带约束非线性多体系统动力学方程数值分析方法

Lagrange方法是建立带约束多体系统动力学方程的普遍方法之一 ,其方程的形式为微分 代数方程组 ,数值计算与数值分析是研究多体系统动力学特性的重要方法。本文利用缩并法给出了带约束多体系统动力学方程的隐式数值计算方法和Lyapunov指数的计算方法。将数值仿真、Lya punov指数计算和Poincare映射有机结合 ,分析非线性多体系统动力学行为。通过一个算例 ,说明该方法的有效性     

多体系统Euler-Lagrange方程组的一类新数值分析方法

针对受完整约束的多体系统,首先指出其动力学Euler-Lagrange方程组是高指标(index>2)的微分代数方程组;不同于传统的直接增广法和直接消去法,文中提出了一类将微分代数方程直接视为非线性代数方程组求解的新的数值分析方法;最后,以典型的单摆模型为例给出了新算法与其他方法的比较,结果表明新算法优于BDF方法及违约修正方法。     

Computer Implementation of the Absolute Nodal Coordinate Formulation for Flexible Multibody Dynamics

Deformable components in multibody systems are subject to kinematic constraints that represent mechanical joints and specified motion trajectories. These constraints can, in general, be described using a set of nonlinear algebraic equations that depend on the system generalized coordinates and time. When the kinematic constraints are augmented to the differential equations of motion of the system, it is desirable to have a formulation that leads to a minimum number of non-zero coefficients for the unknown accelerations and constraint forces in order to be able to exploit efficient sparse matrix algorithms. This paper describes procedures for the computer implementation of the absolute nodal coordinate formulation' for flexible multibody applications. In the absolute nodal coordinate formulation, no infinitesimal or finite rotations are used as nodal coordinates. The configuration of the finite element is defined using global displacement coordinates and slopes. By using this mixed set of coordinates, beam and plate elements can be treated as isoparametric elements. As a consequence, the dynamic formulation of these widely used elements using the absolute nodal coordinate formulation leads to a constant mass matrix. It is the objective of this study to develop computational procedures that exploit this feature. In one of these procedures, an optimum sparse matrix structure is obtained for the deformable bodies using the QR decomposition. Using the fact that the element mass matrix is constant, a QR decomposition of a modified constant connectivity Jacobian matrix is obtained for the deformable body. A constant velocity transformation is used to obtain an identity generalized inertia matrix associated with the second derivatives of the generalized coordinates, thereby minimizing the number of non-zero entries of the coefficient matrix that appears in the augmented Lagrangian formulation of the equations of motion of the flexible multibody systems. An alternate computational procedure based on Cholesky decomposition is also presented in this paper. This alternate procedure, which has the same computational advantages as the one based on the QR decomposition, leads to a square velocity transformation matrix. The computational procedures proposed in this investigation can be used for the treatment of large deformation problems in flexible multibody systems. They have also the advantages of the algorithms based on the floating frame of reference formulations since they allow for easy addition of general nonlinear constraint and force functions.     

多柔体系统响应计算的子循环计算方法研究

过去近30年中,柔性多体系统动力学研究取得了巨大的进展,人们的兴趣集中在柔性多体系统建模、计算及实验研究等3个方面. Belytschko等于1979年提出的子循环算法已经成功地应用于结构动力响应的有限元计算中,然而有关柔性多体动力学的子循环算法研究尚未见报道. 该文提出了一种适合于柔性多体系统响应计算的中心差分类子循环算法,在将非线性微分-代数混合方程组(DAEs)缩并为纯微分方程组(ODE)的基础上,推导出快、慢变分量的同步更新公式和子步更新公式;在变量的数值积分过程中,采用能量平衡计算检查算法的稳定性;算例结果表明该算法可以在保持合适的精度要求下,有效地提高响应的计算效率;对积分步长进行摄动修正可以保持算法的稳定性.      

Finite element analysis of incompressible laminar boundary layer flows

A numerical procedure was developed to solve the two-dimensional and axisymmetric incompressible laminar boundary layer equations using the semi-discrete Galerkin finite element method. Linear Lagrangian, quadratic Lagrangian, and cubic Hermite interpolating polynomials were used for the finite element discretization; the first-order, the second-order backward difference approximation, and the Crank-Nicolson method were used for the system of non-linear ordinary differential equations; the Picard iteration and the Newton-Raphson technique were used to solve the resulting non-linear algebraic system of equations. Conservation of mass is treated as a constraint condition in the procedure; hence, it is integrated numerically along the solution line while marching along the time-like co-ordinate. Among the numerical schemes tested, the Picard iteration technique used with the quadratic Lagrangian polynomials and the second-order backward difference approximation case turned out to be the most efficient to achieve the same accuracy. The advantages of the method developed lie in its coarse grid accuracy, global computational efficiency, and wide applicability to most situations that may arise in incompressible laminar boundary layer flows.     

轴向均布载荷下压杆稳定问题的DQ解

叙述了微分求积法(differential quadrature method)的一般方法，研究用微分求积法求解在均布轴向载荷下细长杆的稳定问题．通过Newton-Raphson法求解非线性方程组，以及对问题进行线性假设后求解广义特征值方程，得到了精度很高的后屈曲挠度数值和临界载荷数值．与解析解和其他近似解相比，微分求积法具有较高的精度和简便性．     

Finite Deflection of Skew Sandwich Plates on Elastic Foundations by the Galerkin Method

ABSTRACT

Application of the Galerkin method to various fluid and structural mechanics problems that are governed by a single linear or nonlinear differential equation is well known [1-5]. Recently, the method has been extended to finite element formulations [6-10], In this paper the suitability of the Galerkin method for solution of large deflection problems of plates is studied. The method is first applied to investigate large deflection behavior of clamped isotropic plates on elastic foundations. After validity of the method is established, it is then extended to analyze problems of large deflection of clamped skew sandwich plates, both with and without elastic foundations. The plates are considered to be subjected to uniformly distributed loads. The governing differential equations for the sandwich plate in terms of displacements in Cartesian coordinates are first established and then transformed into skew coordinates. The nonlinear differential equations of the plates are then transformed into nonlinear algebraic equations, using the Galerkin method. These equations are solved using a Newton-Raphson iterative procedure. The parameters considered herein for large deflection behavior of skew sandwich plates are the aspect ratio of the plate, Poisson's ratio, skew angle, shearing stiffnesses of the core, and foundation moduli. Numerical results are presented for skew sandwich plates for various skew angles and aspect ratios. Simplicity and quick convergence are the advantages of the method, in comparison with other much more laborious numerical methods that require extensive computer facilities.