THE AUTOMATIC STABILIZATION ALGORITHM FOR EULER-LAGRANGE EQUATIONS WITH HOLONOMIC/NONHOLONOMIC CONSTRAINTS IN MULTIBODY SYSTEM DYNAMICS

摘要

A new automatic constraint violation stabilization algorithm for numerical integration of Euler-Lagrange equations of motion of multibody system dynamics based on Baumgarte constraint violation stabilization method and Taylor expansion of constraint functions is presented. The constraint equations may be holonomic or nonholonomic. The parameters α, β, σ used in Baumgarte's method are determined automatically according to integration step. Some numerical examples compare the accuracy between the traditional method and the one suggested in this paper are presented finally.