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Article Dans Une Revue Nonlinear Dynamics Année : 2009

Energy considerations for the stabilization of constrained mechanical systems with velocity projection

Résumé

There are many difficulties involved in the numerical integration of index-3 Differential Algebraic Equations (DAEs), mainly related to stability, in the context of mechanical systems. An integrator that exactly enforces the constraint at position level may produce a discrete solution that departs from the velocity and/or acceleration constraint manifolds (invariants). This behavior affects the stability of the numerical scheme, resulting in the use of stabilization techniques based on enforcing the invariants. A coordinate projection is a post-stabilization technique where the solution obtained by a suitable DAE integrator is forced back to the invariant manifolds. This paper analyzes the energy balance of a velocity projection, providing an alternative interpretation of its effect on the stability and a practical criterion for the projection matrix selection.
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Dates et versions

hal-00568394 , version 1 (23-02-2011)

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Juan C. García orden. Energy considerations for the stabilization of constrained mechanical systems with velocity projection. Nonlinear Dynamics, 2009, 60 (1-2), pp.49-62. ⟨10.1007/s11071-009-9579-8⟩. ⟨hal-00568394⟩

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