The use of symbolic algebra in multibody dynamic simulation

摘要

Examines the effect of introducing flexibility within the elementsnof a shipborne multibody dynamic system. Flexibility could benconcentrated at the joints or distributed along components. A Lagrangiannbased technique has been used with a minimum number of coordinates.nGenerating the Lagrangian and the equations of motion requires anpowerful computer tool to handle the vector algebra and subsequentnsorting procedures. REDUCE was selected as the best and most accessiblenpackage. It is written in RLISP, communicates in an ALGOL-like dialectnand has a large set of functions, control structures and sortingnprocedures. New rules and definitions can be included which is essentialnfor practical problem solving. The development of a symbolic model isnsplit into three stages: Lagrangian development, analysis and sortingncompatible equations