Uhlar, Stefan: Energy consistent time-integration of hybrid multibody systemsEnergie-konsistente Zeitintegration hybrider Mehrkörpersysteme. 2009
Inhalt
- Title
- Preface
- Abstract
- Contents
- 1. Introduction
- 2. Prolog – Motivation
- 3. Dynamics of Constrained Mechanical Systems
- 3.1. Continuous Equations of Motion
- 3.2. Discrete Equations of Motion: Energy-Momentum Schemes
- 3.3. Benefits of the DAE-Formulation
- 4. Rotationless Formulation of the Rigid Body
- 5. Modeling Techniques
- 5.1. Coordinate Augmentation Technique
- 5.2. Design of Explicit Null Space Matrices for Closed Loop Systems
- 5.3. Control of Multibody Systems
- 5.4. Modeling of Dissipation and its Consistent Integration
- 5.5. Nonholonomic Constraints
- 6. Hybrid Multibody Systems
- 6.1. Flexible Body Dynamics
- 6.2. Coupling of Rigid and Flexible Components
- 6.3. Dynamics of Hybrid Multibody Systems
- 6.4. Numerical Examples
- 7. Visualization Approach for Hybrid Multibody Systems
- 7.1. Visualization of Rigid Bodies
- 7.2. Visualization of Flexible Bodies
- 7.3. Visualization of other results obtained with EM-schemes
- 8. Epilog – Conclusions
- A. Conservation Properties
- Bibliography