Analysis of Multibody Mechanical Systems by Use the Discrete Time Constraint Stabilization Method

• Main Authors: Bing-Yi Lin, 林秉毅
• Other Authors: 林仕亭
• Format: Others
• Language: zh-TW
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/45383094590608836089

碩士 === 國立中興大學 === 機械工程學系所 === 104 === Objective of this paper is to solve the problem of multibody system''s numerical integration when it is constrained. Kinematics function of multibody system is a mixed differential-algebraic contain of force, constrain force and Acceleration. Position, velocity and acceleration should be satisfies constrain equations when we use numerical integration method to find that. However, most of numerical integration method is not consider to satisfies constrain equations. To solve this problem, Baumgarte try to join position and velocity parameters in acceleration equations. Numerical integration will get an ideal answer by use an ideal coefficient. This method is called constraint stabilization method. This paper will use research of constraint stabilization method and pseudo-integration to find discrete time acceleration equations when use different numerical integration method－like Predictor-Corrector and Runge-Kutta, and use discrete time control to analysis stabilization.