2017
DOI: 10.1007/s11044-017-9570-y
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Comparison of several formulations and integration methods for the resolution of DAEs formulations in event-driven simulation of nonsmooth frictionless multibody dynamics

Abstract: International audienceThis article is devoted to the comparison of numerical integration methods for nonsmooth multibody dynamics with joints, unilateral contacts and impacts in an industrial context. With an event–driven strategy, the smooth dynamics, which is integrated between two events, may be equivalently formulated as a Differential Algebraic Equation (DAE) of index 1, 2 or 3. It is well-known that these reformulations are no longer equivalent when a numerical time–integration technique is used. The dri… Show more

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Cited by 15 publications
(8 citation statements)
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“…Moreau, 1988;Lötstedt, 1982), the DAE and HHT methods (see e.g. Haddouni et al, 2017;Negrut et al, 2007), the differential inclusions and measure derivative methods (Kiseleva et al, 2018;Monteiro Marques, 1993), analytical or numerical integration methods (Moreau, 1999;Paoli and Schatzman, 2002;Liu et al, 2008). The wide bibliographies of the books of Brogliato (2016) and Pfeiffer and Glocker (2000) give a clear idea of the hugeness of the state of the art about these methods.…”
Section: Introductionmentioning
confidence: 99%
“…Moreau, 1988;Lötstedt, 1982), the DAE and HHT methods (see e.g. Haddouni et al, 2017;Negrut et al, 2007), the differential inclusions and measure derivative methods (Kiseleva et al, 2018;Monteiro Marques, 1993), analytical or numerical integration methods (Moreau, 1999;Paoli and Schatzman, 2002;Liu et al, 2008). The wide bibliographies of the books of Brogliato (2016) and Pfeiffer and Glocker (2000) give a clear idea of the hugeness of the state of the art about these methods.…”
Section: Introductionmentioning
confidence: 99%
“…Compared with the explicit algorithm, the implicit algorithm is more stable with higher calculation efficiency. Therefore, the implicit integral method is preferred for the multi-body system dynamics 23 . Runge Kutta algorithm is often used to solve nonlinear ordinary differential equations, however, the Explicit Runge Kutta method has limitations of stabilization regions, so rigid body dynamics equations are generally solved by Implicit Runge Kutta, which requires more computation cost.…”
Section: Algorithm Analysismentioning
confidence: 99%
“…To deal with such problems, the implicit (backward) Euler discretization method has been known to be useful, especially for the time integration of systems involving Coulomb friction [24,[36][37][38][39]. A higher integration accuracy might be achieved by more sophisticated integration schemes such as event-driven schemes [40] and implicit Runge-Kutta schemes [41], but it is left outside the scope of this paper.…”
Section: Discrete-time Representation For Simulationsmentioning
confidence: 99%