Open AccessA regularization method for solving the redundant problems in multibody dynamic system
Author(s) -
Liusong Yang,
Shifeng Xue,
Wenli Yao
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1634/1/012100
Subject(s) - lagrange multiplier , regularization (linguistics) , gauss , constraint (computer aided design) , constraint algorithm , mathematical optimization , mathematics , equations of motion , computer science , algebraic number , multibody system , control theory (sociology) , artificial intelligence , mathematical analysis , physics , geometry , quantum mechanics , control (management)
Redundant constraints may cause great difficulties during the numerical simulation, when solving the differential algebraic equations (DAEs). The article presents a regularization method based on optimization form of the Gauss principle of least constraint and the Udwadia and Kalaba (UK) method, which expresses the solution of the dynamic motion in an explicit expression. Compared with Lagrange method, the proposed method does not need to solve the Lagrange multipliers any more for the complex multibody mechanical systems. In the end, a numerical example is given to illustrate that the proposed method not only has the ability to handle the problems with redundant constraints, but also has higher accuracy and keep a stable constraint violation level than the traditional methods.