Dual-rate integration of controlled multibody mechanical systems

摘要

A dual-rate integration methodology for high-speed dynamicnsimulation of controlled multibody mechanical systems is proposed. Usingna graphical representation of such systems, a variational approach isnadopted to formulate the systems equations in state-space form, in termsnof mechanical-subsystem-independent generalized coordinates andncontrol-subsystem state variables. Different integration algorithms andnstep sizes that account for the different time scales of each subsystemnare used to improve efficiency and stability. A coupling between thensubsystems is accounted for by extrapolation