| 非完整约束动力系统的离散积分方法 |
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| 引用本文： | 高强,钟万勰.非完整约束动力系统的离散积分方法[J].动力学与控制学报,2012,10(3):193-198. |
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| 作者姓名： | 高强 钟万勰 |
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| 作者单位： | 大连理工大学运载工程与力学学部工程力学系,工业装备结构分析国家重点实验室,大连 116024;大连理工大学运载工程与力学学部工程力学系,工业装备结构分析国家重点实验室,大连 116024 |
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| 基金项目： | 国家自然科学基金(10902020)和973计划(2011CB711105)资助项目 |
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| 摘 要： | 采用了微分-代数方程求解的雷同策略,只在离散区段内满足无约束的积分,而在离散节点处则用约束冲量(Lagrange乘子向量)让轨道发生转折,给出了非完整约束动力系统的离散积分格式.数值例题的效果表明,本文给出的积分算法严格满足节点的非完整约束,具有良好的长时间积分性能.
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| 关 键 词： | 数值积分 非完整约束 参变量变分原理 非线性 |
| 收稿时间： | 2012/2/28 0:00:00 |
| 修稿时间： | 2012/7/19 0:00:00 |
Numerical algorithms for dynamic system with non-holonomic constrains |
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| Gao Qiang and Zhong Wanxie.Numerical algorithms for dynamic system with non-holonomic constrains[J].Journal of Dynamics and Control,2012,10(3):193-198. |
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| Authors: | Gao Qiang and Zhong Wanxie |
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| Affiliation: | Gao Qiang Zhong Wanxie(State Key Laboratory of Structural Analysis of Industrial Equipment,Department of Engineering Mechanics, Faculty of Vehicle Engineering and Mechanics,Dalian University of Technology,Dalian 116023,China) |
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| Abstract: | In this paper, a numerical method for solving is the non-holonomic system is given. The non-holonomic constrains is satisfied within the time step and the solutions of the system on the discrete time are transformed by using the impulses (Lagrange multiplies). The numerical method is of second order precision and it can satisfy precisely the non-holonomic constraints and gives good performance for long time integration. |
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| Keywords: | numerical integration non-holonomic constrain parametric variational principle nonlinear |
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