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Natural co‐ordinates for control applications
Author(s) -
Sänger Nicolas,
Betsch Peter
Publication year - 2012
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201210022
Subject(s) - emulation , mechatronics , multibody system , finite element method , computer science , mechanical system , mechanical engineering , domain (mathematical analysis) , contact dynamics , control engineering , stability (learning theory) , engineering , structural engineering , physics , mathematics , mechanics , classical mechanics , mathematical analysis , economics , economic growth , machine learning
Natural coordinates have emerged to be well‐suited for both rigid and flexible multibody dynamics. Especially the combination of structural elements and energy‐momentum consistent time stepping schemes leads to superior numerical stability as well as an automatable assembly, resulting in both excellent run‐time behaviour as well as moderate modelling effort (see [1]). Incorporation of modern methods for finite‐element simulations, such as mortar methods for contact or domain decomposition both for structural elements as well as continuum elements is straightforward ([2]). Augmentation techniques allow a systematic integration of both mechanical and non‐mechanical quantities for simulation (see [3] and [4]), which makes this approach suitable especially for emulation and simulation of mechatronic systems. We will present an approach for evaluating forward control strategies with flexible multibody systems. (© 2012 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)