DYNAMICS AND CONTROL OF MULTI-FLEXIBLE-BODY SYSTEMS IN A DIVIDE-AND-CONQUER SCHEME

被引：0

作者：

Khan, Imad M. ^{[1
,4
]}

Addepalli, Kalyan C. ^{[2
,4
]}

Poursina, Mohammad ^{[3
]}

机构：

[1] Optimal CAE Inc, Plymouth, MI 48170 USA

[2] Altair PD, Troy, MI 48083 USA

[3] Univ Arizona, Tucson, AZ 85721 USA

[4] Ford Motor Co, Dearborn, MI 48121 USA

来源：

INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2015, VOL 6 | 2016年

关键词：

DIRECT DIFFERENTIATION APPROACH; PARALLEL O(LOG(N)) CALCULATION; SENSITIVITY-ANALYSIS; ALGORITHM;

D O I：

暂无

中图分类号：

Q6 [生物物理学];

学科分类号：

071011 ;

摘要：

In this paper, we present an extension of the generalized divide-and-conquer algorithm (GDCA) for modeling constrained multi-flexible-body systems. The constraints of interest in this case are not the motion constraints or the presence of closed kinematic loops but those that arise due to inverse dynamics or control laws. The introductory GDCA paper introduced an efficient methodology to include generalized constraint forces in the handle equations of motion of the original divide and-conquer algorithm for rigid multibody systems. Here, the methodology is applied to flexible bodies connected by kinematic joints. We develop necessary equations that define the algorithm and present a well known numerical example to validate the method.

引用

页数：7

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