SYMPLECTIC INTEGRATORS OF THE EQUATIONS OF MULTIBODY SYSTEM DYNAMICS ON MANIFOLDS
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摘要: 多体系统动力学方程的数值方法一直是数学与力学家们的热门研究课题.特别是多体系统动力学微分/代数方程组形式的数学模型,是所谓的指标-3问题,它的求解是一个难题.目前流行的关于它的数值方法都有不尽人意的地方,主要是对出现的所谓的违约问题和刚性问题未很好地解决.多体系统动力学方程在流形上的辛算法是近几年出现的新的数值方法,它将闭环型多体系统动力学的方程的约束部分和常微分方程部分利用所谓的辛方法同时进行处理,其中的一些方法已证明是有效的,所以,用它求解多体系统动力学方程前景看好.本文介绍了这些新的理论,并提出了一些有待解决的问题.Abstract: The numerical methods of the equations of multibodysystem dynamics are hot topics in mathematics and mechanics.Especially, the differential-algebraic equations of multibody system dynamics usually are so-called the questions of index three, whose solutions remain very difficult. The popular approachs have their limitations, mainly relatd to the problemsof stiffness, and of drift. The symplectic integrators of the equations of multibody system dynamics on manifold, are new numerical schemes devoloped in recent years. The constraints and ordinary differential equations may be properly handled with symplectic methods, which are shown to be promising and efficient on the problems of drift and stiffness. In this paper we discuss the new theory and propose some questions to be solved.
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Key words:
- symplectic integrators /
- multibody systems /
- dynamics /
- manifold /
- canonical form
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