A modular multibody analysis capability for high-precision, active control and real-time applications

Autor: J. C. Chiou, J. D. Downer, Charbel Farhat, K. C. Park
Rok vydání: 1991
Předmět:
Zdroj: International Journal for Numerical Methods in Engineering. 32:1767-1798
ISSN: 1097-0207
0029-5981
Popis: A computationally oriented formulation and its solution procedures for the analysis of rigid-flexible multibody dynamics systems are presented. The present formulation adopts a set of dual co-ordinate systems, an inertially fixed one for the measure of translational motions and a body-based one for rotational motions. The origins of these co-ordinate systems are located at the centres of rigid bodies and at the nodal points of flexible bodies for implementation ease. The flexibility is modelled by an intrinsic spatial beam theory which is approximated by transverse-shear deformable linear beam elements. The solution of the resulting equations of motion including system constraints is obtained by a partitioned procedure, which solves first for the constraint force vector, then the generalized co-ordinates for the rigid and flexible components, and finally interaction quantities such as active control forces, manoeuvring space ranges and corrections due to state measurements, with each solution stage being processed by the corresponding separate module. A central feature of the present capability is its high accuracy of the analysis results by demanding the energy conservation throughout the various stages of response analyses. Several examples are included to demonstrate the capabilities of the present analysis software both on sequential and parallel machines.
Databáze: OpenAIRE
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