多体系统动力学微分/代数方程组的一类新的数值分析方法*
A New Algorithm for Solving Differential/Algehraic Equations of Multibody System Dynamics
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摘要: 本文讨论了多体系统动力学微分/代数混合方程组的数值离散问题.首先把参数t并入广义坐标讨论,简化了方程组及其隐含条件的结构,并将其化为指标1的方程组.然后利用方程组的特殊结构,引入一种局部离散技巧并构造了相应的算法.算法结构紧凑,易于编程,具有较高的计算效率和良好的数值性态,且其形式适合于各种数值积分方法的的实施.文末给出了具体算例.Abstract: The second order Euler-Lagrange equations are transformed to a set of first orderdifferentiallalgebraic equations. which are then transformed to state equations by usinglocul parameterization. The corresponding discretization method is presented. and theresults can be used to implementation of various numerical integration methods. Anumerical example is presented finally.
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Key words:
- multibody systems /
- differential/algebraic equations /
- numerical analysis /
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