REDUCED SENSITIVITY TO PERTURBATIONS IN THE NUMERICAL SOLUTION OF MULTIBODY DAES

摘要

A simple preconditioning for the multibody dynamics equations of motion in index 3 form is presented. The perturbation analysis of the transformed system shows a decreased sensitivity to the propagation of errors in the numerical solution by BDF-type schemes. The scaling transformation is simple to implement and does not require the re-writing of the system equations as other approaches. The theoretical analysis is confirmed by a simple numerical example.