A Modular Modeling Approach to Simulate Interactively Multibody Systems With a Baumgarte/Uzawa Formulation | Zendy

Pierre Joli | Zendy; Nicolas Séguy | Zendy; ZhiQiang Feng | Zendy

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A Modular Modeling Approach to Simulate Interactively Multibody Systems With a Baumgarte/Uzawa Formulation

Author(s) -

Pierre Joli,

Nicolas Séguy,

ZhiQiang Feng

Publication year - 2007

Publication title -

journal of computational and nonlinear dynamics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.606

H-Index - 48

eISSN - 1555-1423

pISSN - 1555-1415

DOI - 10.1115/1.2815331

Subject(s) - modular design , constraint (computer aided design) , acceleration , multibody system , stability (learning theory) , computer science , differential algebraic equation , mathematics , mathematical optimization , ordinary differential equation , differential equation , mathematical analysis , geometry , physics , classical mechanics , machine learning , operating system , quantum mechanics

International audienceIn this paper, a modular modeling approach of multibody systems adapted to inter- active simulation is presented. This work is based on the study of the stability of two Di®erential Algebraic Equations solvers. The ¯rst one is based on the acceleration- based augmented Lagrangian formulation and the second one on the Baumgarte formulation. We show that these two solvers give the same results and have to sat- isfy the same criteria to stabilize the algebraic constraint acceleration error. For a modular modeling approach, we propose to use the Baumgarte formulation and an iterative Uzawa algorithm to solve external constraint forces. This work is also the ¯rst step to validate the concept of two types of numerical components for Object-Oriented Programming

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