Singular Value Decomposition for Solution of Differential-Algebraic Equations of Mechanical System Dynamics,
Abstract
A computer-based method for solution of non-linear, constrained differential-algebraic equations of motion of mechanical systems is developed. The differential equations of motion and nonlinear holonomic constraint equations are written in terms of a maximal set of Cartesian generalized coordinates, to facilitate the formulation of constraints and forcing functions. Singular Value Decomposition of the constraint Jacobian matrix is used to generate a coordinate transformation that defines a new set of generalized coordinates that are naturally partitioned into independent and dependent sets, with several desirable properties. This information is used to construct a reduced system of independent differential equations of motion that can be integrated using standard numerical integration algorithms. It is also shown that the method speeds the iterative solution of dependent generalized coordinates from constraint equations. A physically reasonable method is presented to determine equations. A physically reasonable method is presented to determine when the choice of independent generalized coordinates needs to be changed. A tracked vehicle example is presented to illustrate the method and its advantages over other methods of solution. (Author)
Document Details
- Document Type
- Technical Report
- Publication Date
- Feb 01, 1985
- Accession Number
- ADP004946
Entities
People
- E. J. Haug
- N. K. Mani
Organizations
- University of Iowa