摘要
基于连续Galerkin方法,给出非完整约束下多体系统时间离散的变分数值积分方法.首先对非完整多体系统Hamilton正则方程的弱形式进行时间离散,得到变分积分公式,然后讨论该积分方法对能量及约束的保持,最后以蛇板为例对该方法进行数值验证和比较.
Based on the continuous Galerkin muhibody dynamic systems with nonholonomic method, a time-discrete variational integrator was presented for constraints. The weighted residual statements of Hamilton＇ s canonical equations were taken firstly. Then time-stepping schemes were outlined, and algorithmic conservations were discussed. Finally, a simplified model of the skateboard validated the accuracy and efficiency of the method presented.
出处
《动力学与控制学报》
2011年第4期289-292,共4页
Journal of Dynamics and Control
基金
国家自然科学基金资助项目(10972110
11002075)~~
关键词
多体系统
非完整约束
数值积分
GALERKIN方法
蛇板
muhibody systems, nonholonomic constraints, numerical integration, Galerkin method, snakeboard
