Multibody system simulation: numerical methods, algorithms, and software
Saved in:
| Main Author: | |
|---|---|
| Format: | Book |
| Language: | German |
| Published: |
Berlin [u.a.]
Springer
1999
|
| Series: | Lecture notes in computational science and engineering
7 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Item Description: | Literaturverz. S. 309 - 330 |
| Physical Description: | XX, 337 S. graph. Darst. |
| ISBN: | 3540656626 |
Staff View
MARC
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| 245 | 1 | 0 | |a Multibody system simulation |b numerical methods, algorithms, and software |c Reinhold von Schwerin |
| 264 | 1 | |a Berlin [u.a.] |b Springer |c 1999 | |
| 300 | |a XX, 337 S. |b graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Lecture notes in computational science and engineering |v 7 | |
| 500 | |a Literaturverz. S. 309 - 330 | ||
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Record in the Search Index
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Contents
0 Introduction 1
1 Multibody Systems in Technical Mechanics 9
1.1 Multibody Systems 11
1.1.1 Topology of MBS 12
1.1.2 Typical Applications in Technical Mechanics . . 14
1.2 Equations of Motion of MBS in Descriptor Form . 21
1.2.1 Types of Constraints 21
1.2.2 Hamilton's Principle 23
1.2.3 d'Alembert's and Jourdain's Principles 25
1.3 Mathematical Properties of the Descriptor Form . 27
1.3.1 The Index of the Descriptor Form 28
1.3.2 Approaches for the Numerical Treatment of the
Descriptor Form 31
1.3.3 Consistency 33
1.3.4 Existence and Uniqueness of Solutions 35
1.3.5 Structures of the Index 1 Equations 37
1.4 Practical Aspects of MBS 38
1.4.1 Non Smooth Models 39
1.4.2 Multibody Formalisms 40
1.5 Advantages of the Descriptor Form 42
1.5.1 An Example from Engineering 43
1.5.2 Minimal Model 43
1.5.3 Descriptor Model 45
1.6 Choice of coordinates 46
1.6.1 Relative Coordinates 46
1.6.2 Reference Point Coordinates 48
XII Contents
1.6.3 Natural Coordinates 48
1.6.4 Mixed Coordinates 49
1.7 Interdependence of Modeling and Simulation 49
1.7.1 Standard Approach: Forward Dynamics Simu¬
lation 50
1.7.2 A New Approach: Inverse Dynamics Simulation 51
1.8 A New Technique for Modeling of Universal Joints . 54
1.8.1 A Standard Model for Universal Joints 55
1.8.2 A New Model for Universal Joints 56
1.9 Summary of the Properties of MBS 57
2 Software Engineering in Scientific Computing 61
2.1 Application Oriented Scientific Software 63
2.1.1 The Software Crisis 63
2.1.2 Implications of the Research Factor 65
2.1.3 Implications of Application Orientedness 66
2.1.4 Scientific Software Products and Feasibility En¬
gineering 66
2.2 Complex Systems 68
2.2.1 Characteristics of Complex Systems 68
2.2.2 Key Factors for Mastering Complexity 70
2.2.3 The Meaning of Software Engineering 72
2.3 Software Quality 73
2.3.1 Criteria Pertaining to Product Operation . 74
2.3.2 Criteria Pertaining to Product Transition . 76
2.3.3 Criteria Pertaining to Product Revision 77
2.3.4 Software Quality Assurance 78
2.4 Programming in the Small 80
2.4.1 Coding and Design 80
2.4.2 Testing 81
2.5 Programming in the Large 81
2.5.1 The Classic Sequential Life Cycle Model 82
2.5.2 Prototyping 88
2.5.3 A Prototyping Oriented Life Cycle Model for
Feasibility Engineering 90
2.6 Summary: Peculiarities of Feasibility Engineering . 93
2.7 Implementation: The Scientific Software MBSSIM . 94
Contents XIII
2.7.1 Module Structure of MBSSIM 95
2.7.2 The User Interface of MBSSIM 97
3 Mathematical Methods for MBS in Descriptor Form 99
3.1 Adaptive ADAMS methods 101
3.1.1 Basics 102
3.1.2 Computational Formulae for Adaptive ADAMS
Methods Ill
3.1.3 Solution of the Nonlinear Corrector Systems . . . 115
3.2 A New Strategy for Controlling Adaptivity 117
3.2.1 Formulae for Constant Stepsize 118
3.2.2 Practical Error Estimation 120
3.2.3 Choosing a New Order 121
3.2.4 Choosing a New Stepsize 123
3.3 A RuNGE KuTTA Starter for Adaptive Adams Methods 127
3.3.1 Goals of Construction 129
3.3.2 Construction of the RuNGE KuTTA Starter . . . 131
3.3.3 Error Estimation and Stepsize Selection 135
3.3.4 Summary 136
3.4 A Numerical Comparison 137
3.5 Inverse Dynamics Integration 140
3.5.1 A Local Complexity Analysis 141
3.5.2 Inverse Dynamics: Taking a Global Perspective . 143
3.5.3 Conclusions for Descriptor Models: O(nb) meth¬
ods 145
3.5.4 Inverse Dynamics Multistep Methods for MBS
in Descriptor Form 149
3.5.5 A Monitoring Strategy for Approximate Jaco
bians in Corrector Systems 151
3.6 Exploiting the Optimization Superstructure 159
3.6.1 The SCHUR Complement Method 161
3.6.2 The Range Space Method for Multibody Simu¬
lation 161
3.6.3 Null Space Methods for Multibody Simulation . 164
3.6.4 A Unified View of RSM and NSM 166
3.6.5 The NSM Based on LQ Factorization 168
3.6.6 The NSM Based on L[/ Factorization 169
XIV Contents
3.6.7 A Nonsymmetric NSM Based on Lt/ Factorizationl72
3.6.8 A Comparison of Complexity for Dense Linear
Algebra Solvers 174
3.6.9 A Numerical Comparison of Dense Linear Alge¬
bra Solvers 176
3.7 Topological Solution Algorithms 179
3.7.1 Graphs of MBS 179
3.7.2 Solution of Closed Loop Systems 180
3.7.3 Recursive Solution of the Open Chain System . . 182
3.7.4 Ingredients of the Recursion 184
3.7.5 A Topological Solver Based on NSM 186
3.7.6 A Numerical Study for the Topological Solver
Using the IR chain 188
3.8 Projection Methods for Constrained MBS 194
3.8.1 The Drift Phenomenon 195
3.8.2 Exploitation of Invariants 196
3.8.3 Exploiting the Sequential Structure 199
3.8.4 Projection in a Weighted Norm 202
3.8.5 Projection by Simplified Newton Methods . 206
3.8.6 Projection by Generalized Gauss Newton Methods210
3.8.7 Projection by Moore Penrose Iterations 214
3.8.8 Algorithms for Sequential Projection and Choice
of Norm 218
3.8.9 A Projection Algorithm for NSM in Error Norm 223
3.9 Sensitivities for Discontinuous Descriptor Models . 225
3.9.1 Parameter Dependent Discontinuous Descriptor
Models 226
3.9.2 The BVP Approach for Parameter Identification
of MBS in Descriptor Form 227
3.9.3 Internal Numerical Differentiation for MBS . 231
3.9.4 Updating Sensitivity Information in the Pres¬
ence of Discontinuities 234
3.9.5 Numerical Results 238
4 Applications 243
4.1 5 Link Suspension in Natural Coordinates 243
4.1.1 Tire Model and Road Models 246
Contents XV
4.1.2 A Relative Coordinate Model 248
4.1.3 A New Natural Coordinate Model 249
4.1.4 Alternative models based on natural or mixed
coordinates 259
4.1.5 Simulation Results 260
4.2 A Comparison of Multibody Integrators 261
4.2.1 A Comparison on a Smooth Model 263
4.2.2 A Comparison on a Non Smooth Model 265
4.2.3 The Effect of Discontinuities on Simulation . . . 266
4.3 A High Voltage Transmission Line 268
4.3.1 A New Model for the Insulator Chain 269
4.3.2 A Comparison of Sparse Solvers 274
5 Summary: The MBSSIM Scientific Software Project 277
5.1 Summary of MBSSIM's Life Cycle to Date 278
5.1.1 Problem Analysis and Planning: Application
Oriented Scientific Computing in Technical Me¬
chanics 278
5.1.2 Requirements Analysis and Specification: Iden¬
tifying the Mathematical Challenges and Plan¬
ning Feasibility Engineering 279
5.1.3 System and Component Design: Reflecting
Practical Requirements in Mathematical Algo¬
rithms 282
5.1.4 Coding and Testing of Components: Improve¬
ments through New Mathematical Technology . 285
5.1.5 Testing of the System: Solving Application
Problems 287
5.1.6 Use and maintenance: Facing New Challenges . . 289
5.2 Conclusions and Future Prospects 290
A Odds and Ends 293
A.I Coefficients for Adaptive Adams methods 293
A.2 Proof of the Local Convergence Theorems 296
B WWW Pointers 301
B.I MBSSIM User's Guide 301
B.2 Visualization of Results 301
XVI Contents
B.3 Vehicle System Dynamics 301
List of Figures 303
List of Tables 307
Bibliography 309
Index 331 |
| any_adam_object | 1 |
| author | Schwerin, Reinhold von 1964- |
| author_GND | (DE-588)115503668 |
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| dewey-ones | 531 - Classical mechanics |
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| dewey-search | 531/.11 |
| dewey-sort | 3531 211 |
| dewey-tens | 530 - Physics |
| discipline | Physik Mathematik |
| format | Book |
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| illustrated | Illustrated |
| indexdate | 2024-07-31T01:02:04Z |
| institution | BVB |
| isbn | 3540656626 |
| language | German |
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| owner_facet | DE-703 DE-29T DE-634 |
| physical | XX, 337 S. graph. Darst. |
| publishDate | 1999 |
| publishDateSearch | 1999 |
| publishDateSort | 1999 |
| publisher | Springer |
| record_format | marc |
| series | Lecture notes in computational science and engineering |
| series2 | Lecture notes in computational science and engineering |
| spelling | Schwerin, Reinhold von 1964- Verfasser (DE-588)115503668 aut Multibody system simulation numerical methods, algorithms, and software Reinhold von Schwerin Berlin [u.a.] Springer 1999 XX, 337 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Lecture notes in computational science and engineering 7 Literaturverz. S. 309 - 330 Mehrkörpersystem - Simulation - Differential-algebraisches Gleichungssystem - Wissenschaftliches Rechnen Differential-algebraisches Gleichungssystem (DE-588)4229517-8 gnd rswk-swf Computersimulation (DE-588)4148259-1 gnd rswk-swf Simulation (DE-588)4055072-2 gnd rswk-swf Mehrkörpersystem (DE-588)4038390-8 gnd rswk-swf Wissenschaftliches Rechnen (DE-588)4338507-2 gnd rswk-swf Mehrkörpersystem (DE-588)4038390-8 s Simulation (DE-588)4055072-2 s Differential-algebraisches Gleichungssystem (DE-588)4229517-8 s Wissenschaftliches Rechnen (DE-588)4338507-2 s DE-604 Computersimulation (DE-588)4148259-1 s Lecture notes in computational science and engineering 7 (DE-604)BV011386476 7 HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008563568&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Schwerin, Reinhold von 1964- Multibody system simulation numerical methods, algorithms, and software Lecture notes in computational science and engineering Mehrkörpersystem - Simulation - Differential-algebraisches Gleichungssystem - Wissenschaftliches Rechnen Differential-algebraisches Gleichungssystem (DE-588)4229517-8 gnd Computersimulation (DE-588)4148259-1 gnd Simulation (DE-588)4055072-2 gnd Mehrkörpersystem (DE-588)4038390-8 gnd Wissenschaftliches Rechnen (DE-588)4338507-2 gnd |
| subject_GND | (DE-588)4229517-8 (DE-588)4148259-1 (DE-588)4055072-2 (DE-588)4038390-8 (DE-588)4338507-2 |
| title | Multibody system simulation numerical methods, algorithms, and software |
| title_auth | Multibody system simulation numerical methods, algorithms, and software |
| title_exact_search | Multibody system simulation numerical methods, algorithms, and software |
| title_full | Multibody system simulation numerical methods, algorithms, and software Reinhold von Schwerin |
| title_fullStr | Multibody system simulation numerical methods, algorithms, and software Reinhold von Schwerin |
| title_full_unstemmed | Multibody system simulation numerical methods, algorithms, and software Reinhold von Schwerin |
| title_short | Multibody system simulation |
| title_sort | multibody system simulation numerical methods algorithms and software |
| title_sub | numerical methods, algorithms, and software |
| topic | Mehrkörpersystem - Simulation - Differential-algebraisches Gleichungssystem - Wissenschaftliches Rechnen Differential-algebraisches Gleichungssystem (DE-588)4229517-8 gnd Computersimulation (DE-588)4148259-1 gnd Simulation (DE-588)4055072-2 gnd Mehrkörpersystem (DE-588)4038390-8 gnd Wissenschaftliches Rechnen (DE-588)4338507-2 gnd |
| topic_facet | Mehrkörpersystem - Simulation - Differential-algebraisches Gleichungssystem - Wissenschaftliches Rechnen Differential-algebraisches Gleichungssystem Computersimulation Simulation Mehrkörpersystem Wissenschaftliches Rechnen |
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| volume_link | (DE-604)BV011386476 |
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