RECURSIVE LINEARIZATION OF MULTIBODY DYNAMICS AND APPLICATION TO CONTROL DESIGN

作     者：LIN, TC YAE, KH 

作者机构：Center for Simulation and Design Optimization Department of Mechanical Engineering The University of Iowa Iowa City IA 52242 

出 版 物：《JOURNAL OF MECHANICAL DESIGN》 (美国机械工程师学会汇刊: 机械设计杂志)

年 卷 期：1994年第116卷第2期

页      面：445-451页

核心收录：

学科分类：08[工学] 0802[工学-机械工程] 

主　　题：Errors Computational methods Design Kinematics Modeling Nonlinear equations Multibody dynamics Approximation 

摘      要：The nonlinear equations of motion in multibody dynamics pose a difficult problem in linear control design. It is therefore desirable to have linearization capability in conjunction with a general-purpose multibody dynamics modeling technique. A new computational method for linearization is obtained by applying a series of first-order analytical approximations to the recursive kinematic relationships. The method has proved to be computationally more efficient. It has also turned out to be more accurate because the analytical perturbation requires matrix and vector operations by circumventing numerical differentiation and other associated numerical operations that may accumulate computational error.