Parameters Selection of the Constraint Stabilization Method for Numerical Integration of Multibody Mechanical Systems with Energy Constraint

• Main Authors: Wen-Chih Wang, 王文志
• Other Authors: Shih-Tin Lin
• Format: Others
• Language: zh-TW
• Published: 2000
• Online Access: http://ndltd.ncl.edu.tw/handle/75673612948283415846

碩士 === 國立中興大學 === 機械工程學系 === 88 === The objective of this thesis is to resolve the stability problem for the numerical integration of constrained multibody mechanical systems. The dynamic equations of motion of the constrained multibody mechanical system is a mixed differential-algebraic equation(DAE) which contains external forces, constraint reaction forces as well as acceleration of the generalized coordinates of the system. In applying numerical integration methods to solve the mixed differential- algebraic equation, the constraint equation and its first and second derivatives and energy constraint must be satisfied. That is, the generalized coordinates are dependent. Direct integration methods do not consider this dependency and constraint violation occurs. This problem was seemingly resolved by Baumgarte’s Constraint Violation Stabilization Method. But this solution had some ambiguity in selecting the feedback parameters. In this thesis, the digital stability theory for integration formulas is applied to determine the stability region of the stabilized constraint equations.