An energy preserving/decaying scheme for constrained nonlinear multibody systems

ELISABET LENS; ALBERTO CARDONA

MULTIBODY SYSTEM DYNAMICS

Springer

Año: 2006 p. 1 - 1

1384-5640

Several numerical time integration methods for multibody system dynamics are described: an energy preserving scheme and three energy decaying ones, which introduce high-frequency numerical dissipation in order to annihilate the nondesired high-frequency oscillations. An exhaustive analysis of these four schemes is done, including their formu- lation, and energy preserving and decaying properties by taking into account the presence of nonlinear algebraic constraints and the incrementation of finite rotations. A new energy preserving/decaying scheme is developed, which is well suited for either stiff or nonstiff nonlinearly constrained multibody systems. Examples on a series of test cases show the performance of the algorithms.