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内蒙古自治区呼和浩特市赛罕区大学西街235号 邮编: 010021
作者机构:Natl Chiao Tung Univ Dept Elect & Control Engn Hsinchu 300 Taiwan
出 版 物:《JOURNAL OF GUIDANCE CONTROL AND DYNAMICS》 (J Guid Control Dyn)
年 卷 期:1999年第22卷第3期
页 面:497-499页
核心收录:
学科分类:12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0804[工学-仪器科学与技术] 0825[工学-航空宇航科学与技术]
主 题:Numerical Integration Integration Algorithm Numerical Simulation Convex Optimization Energy Conservation Aircraft Control Control Surfaces Linear Mapping Heading Angle Robot Arms
摘 要:A new constraint stabilization technique based on the velocity correction method is proposed for solving multibody dynamic systems with nonholonomic constraints. By propagating the velocity errors into a nonholonomic constraint equation, a modified velocity vector is obtained that consists of a constraint Jacobian matrix and the original calculated velocity. The present method does not require one to choose parameters that greatly affect the performance in simulating MBD systems. A computational procedure based on this finding is developed to suppress the constraint violation during the process of numerical integration. (AIAA)