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Multibody dynamics in natural coordinates through automatic differentiation and high-index DAE solving

Pryce, John and Nedialkov, Nedialko S. 2020. Multibody dynamics in natural coordinates through automatic differentiation and high-index DAE solving. Acta Cybernetica 24 (3) 10.14232/ACTACYB.24.3.2020.4
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Abstract

The Natural Coordinates (NCs) method for Lagrangian modelling and simulation of multi-body systems is valued for giving simple, sparse models. We describe our version of it (NPNCs) and compare with the classical ap- proach of Jalón and Bayo (JBNCs). NPNCs use the high-index differential- algebraic equation solver DAETS. Algorithmic differentiation, not symbolic algebra, forms the equations of motion from the Lagrangian. NPNCs give significantly smaller equation systems than JBNCs, at the cost of a non- constant mass matrix for fully 3D models—a minor downside in the DAETS context. A 2D and a 3D example are presented, with numerical results.

Item Type: Article
Date Type: Publication
Status: Published
Schools: Mathematics
Date of First Compliant Deposit: 17 October 2019
Date of Acceptance: 27 September 2019
Last Modified: 15 Jun 2020 12:50
URI: http://orca.cf.ac.uk/id/eprint/126082

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