XU Xiao-ming, ZHONG Wan-xie. Symplectic Conservation Integration of Rigid Body Dynamics With Quaternion Parameters[J]. Applied Mathematics and Mechanics, 2014, 35(1): 1-11. doi: 10.3879/j.issn.1000-0887.2014.01.001
 Citation: XU Xiao-ming, ZHONG Wan-xie. Symplectic Conservation Integration of Rigid Body Dynamics With Quaternion Parameters[J]. Applied Mathematics and Mechanics, 2014, 35(1): 1-11.

# Symplectic Conservation Integration of Rigid Body Dynamics With Quaternion Parameters

##### doi: 10.3879/j.issn.1000-0887.2014.01.001
Funds:  The National Basic Research Program of China (973 Program)(2009CB918501)
• Received Date: 2013-10-07
• Rev Recd Date: 2013-11-03
• Publish Date: 2014-01-15
• A numerical method was proposed with the quaternion representation of rigid body dynamics. Based on the analytical structural mechanics, the action of differential system was introduced for the time integration of the approximated discrete system and the constraint that the norm of quaternion kept constant at 1 was satisfied strictly at the grid points of integration. As was interpreted in the theory of analytical structural mechanics, the numerical integration was symplectic conservative and the constraint was satisfied approximately in the sense of variation principle. The numerical results of heavy tops are satisfying in precision and efficiency.
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沈阳化工大学材料科学与工程学院 沈阳 110142

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