INTEGRATION OF CONTROLLED MULTIBODY MECHANICAL SYSTEMS WITH BOTH STIFF AND NONSTIFF SUBSYSTEMS

摘要

Simulation of a controlled multibody mechanical system, with a nonstiff mechanical subsystem and a stiff control subsystem, usually suffers from long run time. In this paper, a hybrid integration scheme is proposed to overcome this difficulty. The hybrid integration scheme consists of two parts: a nonstiff integration algorithm for the mechanical subsystem and a stiff integration algorithm for the control subsystem. A double pendulum driven by two AC motors and a backhoe mechanism driven by three hydraulic actuators are used to demonstrate the computational efficiency of the proposed integration scheme.