Abstract
The constraint violation problem of spatial multibody systems is analyzed in this paper. The mass matrix is singular in the equations of motion when the Euler parameters with the normalization constraints are used to describe the orientation of the spatial rigid body. The constrained and weighted least-squares-based geometrical projection method is implemented to suppress the constraint violation during numerical integration, and the explicit correction formulation can be obtained by the block matrix inversion scheme. The mass matrix weighted correction formulation gives the physically consistent energy norm, but it needs the mass matrix to be positive definite. To extend the physically consistent correction formulation for solving spatial multibody systems’ constraint violation problems with a singular mass matrix, a Modified Mass-Orthogonal Projection Method (MMOPM) and a Generalized Physical Orthogonal Projection Method (GPOPM) are proposed. MMOPM modifies the mass matrix directly by adding a penalty factor matrix which appears in the mass-orthogonal projection method and leads to a positive definite weight matrix that satisfies the block matrix inversion scheme condition. GPOPM is a generalization of the physical orthogonal projection method where the constrained least-squares method is weighted by the positive semi-definite mass matrix and the correction formulation is given by using the generalized block matrix inversion scheme. Numerical results show the feasibility and accuracy of the presented MMOPM and GPOPM. The constraints in position and velocity can reach machine precision during numerical integration. The elimination of violation of position constrains may require few iterations, while the violation of velocity constraints is removed in one step, and GPOPM is more accurate in velocity correction than MMOPM.
Similar content being viewed by others
References
Laulusa, A., Bauchau, O.A.: Review of classical approaches for constraint enforcement in multibody systems. J. Comput. Nonlinear Dyn. 3(1), 011004 (2007). doi:10.1115/1.2803257
Bauchau, O.A., Laulusa, A.: Review of contemporary approaches for constraint enforcement in multibody systems. J. Comput. Nonlinear Dyn. 3(1), 011005 (2007). doi:10.1115/1.2803258
Haug, E.J.: Computer Aided Kinematics and Dynamics of Mechanical Systems V.1: Basic Methods. Allyn & Bacon, Boston (1989)
Jalon, J.G.D., Bayo, E.: Kinematic and Dynamic Simulation of Multibody Systems: The Real Time Challenge. Springer, New York (1994)
Eich-Soellner, E., Führer, C.: Numerical Methods in Multibody Dynamics, vol. 45. Springer, Berlin (1998)
Von Schwerin, R.: Multibody System Simulation: Numerical Methods, Algorithms, and Software, vol. 7. Springer, Berlin (1999)
Simeon, B.: MBSPACK-numerical integration software for constraines mechanical motion. Surv. Math. Ind. 5, 169–202 (1995)
Terze, Z., Naudet, J.: Geometric properties of projective constraint violation stabilization method for generally constrained multibody systems on manifolds. Multibody Syst. Dyn. 20(1), 85–106 (2008). doi:10.1007/s11044-008-9107-5
Baumgarte, J.: Stabilization of constraints and integrals of motion in dynamical systems. Comput. Methods Appl. Math. 1(1), 1–16 (1972). doi:10.1016/0045-7825(72)90018-7
Flores, P., Machado, M., Seabra, E., Tavares da Silva, M.: A parametric study on the Baumgarte stabilization method for forward dynamics of constrained multibody systems. J. Comput. Nonlinear Dyn. 6(1), 011019 (2010). doi:10.1115/1.4002338
Park, K.C., Chiou, J.C.: Stabilization of computational procedures for constrained dynamical systems. J. Guid. Control Dyn. 11(4), 365–370 (1988). doi:10.2514/3.20320
Park, K.C., Chiou, J.C., Downer, J.D.: Explicit-implicit staggered procedure for multibody dynamics analysis. J. Guid. Control Dyn. 13(3), 562–570 (1990). doi:10.2514/3.25370
Bayo, E., Garcia De Jalon, J., Serna, M.A.: A modified Lagrangian formulation for the dynamic analysis of constrained mechanical systems. Comput. Methods Appl. Math. 71(2), 183–195 (1988). doi:10.1016/0045-7825(88)90085-0
Bayo, E., Avello, A.: Singularity-free augmented Lagrangian algorithms for constrained multibody dynamics. Nonlinear Dyn. 5(2), 209–231 (1994). doi:10.1007/bf00045677
Braun, D.J., Goldfarb, M.: Eliminating constraint drift in the numerical simulation of constrained dynamical systems. Comput. Methods Appl. Math. 198(37–40), 3151–3160 (2009). doi:10.1016/j.cma.2009.05.013
Blajer, W.: Methods for constraint violation suppression in the numerical simulation of constrained multibody systems—a comparative study. Comput. Methods Appl. Math. 200(13–16), 1568–1576 (2011). doi:10.1016/j.cma.2011.01.007
Lubich, C.: Extrapolation integrators for constrained multibody systems. Impact Comput. Sci. Eng. 3(3), 213–234 (1991). doi:10.1016/0899-8248(91)90008-I
Eich, E.: Convergence results for a coordinate projection method applied to mechanical systems with algebraic constraints. SIAM J. Numer. Anal. 30(5), 1467–1482 (1993). doi:10.1137/0730076
Andrzejewski, T., Bock, H.: Recent advances in the numerical integration of multibody systems. In: Schiehlen, W. (ed.) Advanced Multibody System Dynamics. Solid Mechanics and Its Applications, vol. 20, pp. 127–151. Springer, The Netherlands (1993)
Yoon, S., Howe, R.M., Greenwood, D.T.: Geometric elimination of constraint violations in numerical simulation of Lagrangian equations. J. Mech. Des. 116(4), 1058–1064 (1994). doi:10.1115/1.2919487
Yu, Q., Chen, I.M.: A direct violation correction method in numerical simulation of constrained multibody systems. Comput. Mech. 26(1), 52–57 (2000). doi:10.1007/s004660000149
Aghili, F., Piedbœuf, J.-C.: Simulation of motion of constrained multibody systems based on projection operator. Multibody Syst. Dyn. 10(1), 3–16 (2003). doi:10.1023/a:1024584323751
Blajer, W.: A geometric unification of constrained system dynamics. Multibody Syst. Dyn. 1(1), 3–21 (1997). doi:10.1023/a:1009759106323
Blajer, W.: Elimination of constraint violation and accuracy aspects in numerical simulation of multibody systems. Multibody Syst. Dyn. 7(3), 265–284 (2002). doi:10.1023/a:1015285428885
Nikravesh, P.: Initial condition correction in multibody dynamics. Multibody Syst. Dyn. 18(1), 107–115 (2007). doi:10.1007/s11044-007-9069-z
Terze, Z., Lefeber, D., Muftić, O.: Null space integration method for constrained multibody systems with no constraint violation. Multibody Syst. Dyn. 6(3), 229–243 (2001). doi:10.1023/a:1012090712309
Terze, Z., Naudet, J.: Structure of optimized generalized coordinates partitioned vectors for holonomic and non-holonomic systems. Multibody Syst. Dyn. 24(2), 203–218 (2010). doi:10.1007/s11044-010-9195-x
Bayo, E., Ledesma, R.: Augmented Lagrangian and mass-orthogonal projection methods for constrained multibody dynamics. Nonlinear Dyn. 9(1–2), 113–130 (1996). doi:10.1007/bf01833296
Cuadrado, J., Cardenal, J., Bayo, E.: Modeling and solution methods for efficient real-time simulation of multibody dynamics. Multibody Syst. Dyn. 1(3), 259–280 (1997). doi:10.1023/a:1009754006096
Blajer, W.: Augmented Lagrangian formulation: geometrical interpretation and application to systems with singularities and redundancy. Multibody Syst. Dyn. 8(2), 141–159 (2002). doi:10.1023/a:1019581227898
García Orden, J.: Energy considerations for the stabilization of constrained mechanical systems with velocity projection. Nonlinear Dyn. 60(1–2), 49–62 (2010). doi:10.1007/s11071-009-9579-8
García Orden, J., Conde Martín, S.: Controllable velocity projection for constraint stabilization in multibody dynamics. Nonlinear Dyn. 68(1–2), 245–257 (2012). doi:10.1007/s11071-011-0224-y
Udwadia, F.E., Phohomsiri, P.: Explicit equations of motion for constrained mechanical systems with singular mass matrices and applications to multi-body dynamics. Proc. R. Soc. A, Math. Phys. Eng. Sci. 462(2071), 2097–2117 (2006). doi:10.1098/rspa.2006.1662
García de Jalón, J., Gutiérrez-López, M.D.: Multibody dynamics with redundant constraints and singular mass matrix: existence, uniqueness, and determination of solutions for accelerations and constraint forces. Multibody Syst. Dyn. 30(3), 311–341 (2013). doi:10.1007/s11044-013-9358-7
Haghshenas-Jaryani, M., Bowling, A.: A new switching strategy for addressing Euler parameters in dynamic modeling and simulation of rigid multibody systems. Multibody Syst. Dyn. 30(2), 185–197 (2013). doi:10.1007/s11044-012-9333-8
Vlasenko, D., Kasper, R.: Implementation of consequent stabilization method for simulation of multibodies described in absolute coordinates. Multibody Syst. Dyn. 22(3), 297–319 (2009). doi:10.1007/s11044-009-9167-1
Schwab, A., Meijaard, J.: How to draw Euler angles and utilize Euler parameters. In: ASME 2006 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2006, pp. 259–265 (2006). American Society of Mechanical Engineers
Mariti, L., Belfiore, N.P., Pennestrì, E., Valentini, P.P.: Comparison of solution strategies for multibody dynamics equations. Int. J. Numer. Methods Eng. 88(7), 637–656 (2011). doi:10.1002/nme.3190
Nikravesh, P.: Some methods for dynamic analysis of constrained mechanical systems: a survey. In: Haug, E. (ed.) Computer Aided Analysis and Optimization of Mechanical System Dynamics. NATO ASI Series, vol. 9, pp. 351–368. Springer, Berlin (1984)
Udwadia, F.E., Kalaba, R.E.: A new perspective on constrained motion. Proc. R. Soc. Lond., Math. Phys. Sci. 439(1906), 407–410 (1992). doi:10.2307/52227
de Falco, D., Pennestrì, E., Vita, L.: Investigation of the influence of pseudoinverse matrix calculations on multibody dynamics simulations by means of the Udwadia–Kalaba formulation. J. Aerosp. Eng. 22(4), 365–372 (2009). doi:10.1061/(ASCE)0893-1321(2009)22:4(365)
Gill, P.E., Murray, W., Wright, M.H.: Practical Optimization. Academic Press, San Diego (1981)
Campbell, S.L., Meyer, C.D.: Generalized Inverses of Linear Transformations, vol. 56. SIAM, Philadelphia (2009)
Steeves, E.C., Walton, W.: A new matrix theorem and its application for establishing independent coordinates for complex dynamical systems with constraints. NASA Technical Report TR R-326 (1969)
Youngjin, C., Joono, C.: New expressions of 2×2 block matrix inversion and their application. IEEE Trans. Autom. Control 54(11), 2648–2653 (2009). doi:10.1109/tac.2009.2031568
McPhee, J., Shi, P., Piedbuf, J.C.: Dynamics of multibody systems using virtual work and symbolic programming. Math. Comput. Model. Dyn. Syst. 8(2), 137–155 (2002). doi:10.1076/mcmd.8.2.137.8591
Uchida, T., Vyasarayani, C.P., Smart, M., McPhee, J.: Parameter identification for multibody systems expressed in differential-algebraic form. Multibody Syst. Dyn. 31(4), 393–403 (2014). doi:10.1007/s11044-013-9390-7
Acknowledgements
This work was supported by the Training Program of the Major Research Plan of the National Natural Science Foundation of China (Project No. 91016026) and National Natural Science Foundation of China (Project No. 11302023). The authors express thanks to anonymous referees for their valuable comments and suggestions, which led to a significant improvement over an early version of the paper.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Zhang, J., Liu, D. & Liu, Y. A constraint violation suppressing formulation for spatial multibody dynamics with singular mass matrix. Multibody Syst Dyn 36, 87–110 (2016). https://doi.org/10.1007/s11044-015-9458-7
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11044-015-9458-7