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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 한국자동차공학회 International journal of automotive technology International journal of automotive technology Vol.2 No.3
- 발행연도
- 2001.9
- 수록면
- 117 - 122 (6page)
이용수
초록· 키워드
오류제보하기
For a dynamic analysis of a constrained multibody system, it is necessary to have a routine for satisfying kinematic constraints. LU decomposition scheme, which is used to divide coordinates into dependent and independent coordinates, is efficient but has great difficulty near the singular configuration. Other method such as the projection matrix, which is more stable near a singular configuration, takes longer simulation time due to the large amount of calculation for decomposition. In this paper, the row space and the null space of the Jacobian matrix are proposed by using the pseudo-inverse method and the projection matrix. The equations of the motion or a system are replaced with independent acceleration components using the null space of the Jacobian matrix. Also a new hybrid method is proposed. combining the LU decomposition and the projection matrix. The proposed hybrid method has following advantages. (I) The simulation efficiency is preserved by the LU method during the simulation. (2) The accuracy of the solution is also achieved by the projection method near the singular configuration.
목차
Abstract
1.INTRODUCTION
2.DAEs,EQUATIONS OF MOTION OF A CONSTRAINED SYSTEM
3.SOLUTION OF DAE WITH LU DECOMPOSITION
4.SOLUTION OF DAE WITH A PROJECTION MATRIX
5.COMBINATION OF LU DECOMPOSITION AND PROJECTION MATRIX
6.NUMERICAL EXAMPLE AND SIMULATION
7.CONCLUSION
ACKNOWLEDGEMENT
REFERENCES
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