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Port-Hamiltonian flexible multibody dynamics

Abstract : A new formulation for the modular construction of flexible multibody systems is presented. By rearranging the equations for a flexible floating body and introducing the appropriate canonical momenta, the model is recast into a coupled system of ordinary and partial differential equations in port-Hamiltonian (pH) form. This approach relies on a floating frame description and is valid under the assumption of small deformations. This allows including mechanical models that cannot be easily formulated in terms of differential forms. Once a pH model is established, a finite element based method is then introduced to discretize the dynamics in a structure-preserving manner. Thanks to the features of the pH framework, complex multibody systems could be constructed in a modular way. Constraints are imposed at the velocity level, leading to an index 2 quasilinear differential-algebraic system. Numerical tests are carried out to assess the validity of the proposed approach.
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Submitted on : Tuesday, April 20, 2021 - 9:48:58 AM
Last modification on : Tuesday, April 20, 2021 - 5:22:11 PM


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Andrea Brugnoli, Daniel Alazard, Valérie Pommier-Budinger, Denis Matignon. Port-Hamiltonian flexible multibody dynamics. Multibody System Dynamics, Springer Verlag, 2021, 51 (3), ⟨10.1007/s11044-020-09758-6⟩. ⟨hal-02967061v2⟩



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