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Augmented Lagrangian index-3 semi-recursive formulations with projections 带投影的增广拉格朗日指数-3半递推公式
2区 工程技术
Multibody System Dynamics Pub Date : 2023-08-24 DOI: 10.1007/s11044-023-09928-2
Álvaro López Varela, Daniel Dopico Dopico, Alberto Luaces Fernández
{"title":"Augmented Lagrangian index-3 semi-recursive formulations with projections","authors":"Álvaro López Varela, Daniel Dopico Dopico, Alberto Luaces Fernández","doi":"10.1007/s11044-023-09928-2","DOIUrl":"https://doi.org/10.1007/s11044-023-09928-2","url":null,"abstract":"Abstract Sensitivity analysis represents a powerful tool for the optimization of multibody system dynamics. The performance of a gradient-based optimization algorithm is strongly tied to the dynamic and the sensitivity formulations considered. The accuracy and efficiency are critical to any optimization problem, thus they are key factors in the selection of the dynamic and sensitivity analysis approaches used to compute an objective function gradient. Semi-recursive methods usually outperform global methods in terms of computational time, even though they involve sometimes demanding recursive procedures. Semi-recursive methods are well suited to be combined with different constraints enforcement schemes as the augmented Lagrangian index-3 formulation with velocity and acceleration projections (ALI3-P), taking advantage of the robustness, accurate fulfillment of constraint equations and the low computational burden. The sensitivity analysis of the semi-recursive ALI3-P formulation is studied in this document by means of the direct differentiation method. As a result, a semi-recursive ALI3-P sensitivity formulation is developed for an arbitrary reference point selection, and then two particular versions are unfolded and implemented in the general purpose multibody library MBSLIM, using as reference point the center of mass (RTdyn0) or the global origin of coordinates (RTdyn1). Besides, the detailed derivatives of the recursive terms are provided, which will be useful not only for the direct sensitivity formulation presented herein, but also for other sensitivity formulations relying on the same recursive expressions. The implementation has been tested in two numerical experiments, a five-bar benchmark problem and a buggy vehicle.","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135420527","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Preface for the MUBO Special Issue on its 25th Anniversary MUBO创刊25周年特刊序
IF 3.4 2区 工程技术
Multibody System Dynamics Pub Date : 2023-07-24 DOI: 10.1007/s11044-023-09927-3
J. Ambrósio, A. Mikkola
{"title":"Preface for the MUBO Special Issue on its 25th Anniversary","authors":"J. Ambrósio, A. Mikkola","doi":"10.1007/s11044-023-09927-3","DOIUrl":"https://doi.org/10.1007/s11044-023-09927-3","url":null,"abstract":"","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":"58 1","pages":"227 - 229"},"PeriodicalIF":3.4,"publicationDate":"2023-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47991737","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Rigid–flexible–thermal coupling dynamics of a hub and multiplate system considering frictional contact 考虑摩擦接触的轮毂多盘系统刚-柔-热耦合动力学
IF 3.4 2区 工程技术
Multibody System Dynamics Pub Date : 2023-07-21 DOI: 10.1007/s11044-023-09925-5
Tingting Yuan, Bo Lei, Jinyang Liu, Yunli Wu
{"title":"Rigid–flexible–thermal coupling dynamics of a hub and multiplate system considering frictional contact","authors":"Tingting Yuan, Bo Lei, Jinyang Liu, Yunli Wu","doi":"10.1007/s11044-023-09925-5","DOIUrl":"https://doi.org/10.1007/s11044-023-09925-5","url":null,"abstract":"","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":" ","pages":""},"PeriodicalIF":3.4,"publicationDate":"2023-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47734609","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Calculation of tooth pair stiffness by finite element analysis for the multibody simulation of flexible gear pairs with helical teeth and flank modifications 采用有限元方法计算具有螺旋齿和齿面修形的柔性齿轮副多体仿真的齿副刚度
IF 3.4 2区 工程技术
Multibody System Dynamics Pub Date : 2023-07-21 DOI: 10.1007/s11044-023-09926-4
F. Andary, Christine Heinzel, Stefan Wischmann, J. Berroth, G. Jacobs
{"title":"Calculation of tooth pair stiffness by finite element analysis for the multibody simulation of flexible gear pairs with helical teeth and flank modifications","authors":"F. Andary, Christine Heinzel, Stefan Wischmann, J. Berroth, G. Jacobs","doi":"10.1007/s11044-023-09926-4","DOIUrl":"https://doi.org/10.1007/s11044-023-09926-4","url":null,"abstract":"","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":"1 1","pages":""},"PeriodicalIF":3.4,"publicationDate":"2023-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41747416","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Autonomous unicycle: modeling, dynamics, and control 自主独轮车:建模、动力学和控制
IF 3.4 2区 工程技术
Multibody System Dynamics Pub Date : 2023-07-17 DOI: 10.1007/s11044-023-09923-7
Xincheng Cao, Dang Cong Bui, D. Takács, G. Orosz
{"title":"Autonomous unicycle: modeling, dynamics, and control","authors":"Xincheng Cao, Dang Cong Bui, D. Takács, G. Orosz","doi":"10.1007/s11044-023-09923-7","DOIUrl":"https://doi.org/10.1007/s11044-023-09923-7","url":null,"abstract":"","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":" ","pages":""},"PeriodicalIF":3.4,"publicationDate":"2023-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46668871","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Kinematics, statics modeling and workspace analysis of a cable-driven hybrid robot 缆索驱动混合动力机器人运动学、静力学建模及工作空间分析
IF 3.4 2区 工程技术
Multibody System Dynamics Pub Date : 2023-07-17 DOI: 10.1007/s11044-023-09924-6
Jianqing Peng, Y. Guo, Deshan Meng, Yu Han
{"title":"Kinematics, statics modeling and workspace analysis of a cable-driven hybrid robot","authors":"Jianqing Peng, Y. Guo, Deshan Meng, Yu Han","doi":"10.1007/s11044-023-09924-6","DOIUrl":"https://doi.org/10.1007/s11044-023-09924-6","url":null,"abstract":"","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":" ","pages":""},"PeriodicalIF":3.4,"publicationDate":"2023-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42106902","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Heuristic sequencing methods for time optimal tracking of nested, open and closed paths 嵌套、开放和闭合路径时间最优跟踪的启发式排序方法
IF 3.4 2区 工程技术
Multibody System Dynamics Pub Date : 2023-07-13 DOI: 10.1007/s11044-023-09922-8
Christian Zauner, H. Gattringer, Andreas Müller, Matthias Jörgl
{"title":"Heuristic sequencing methods for time optimal tracking of nested, open and closed paths","authors":"Christian Zauner, H. Gattringer, Andreas Müller, Matthias Jörgl","doi":"10.1007/s11044-023-09922-8","DOIUrl":"https://doi.org/10.1007/s11044-023-09922-8","url":null,"abstract":"","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":"59 1","pages":"105 - 121"},"PeriodicalIF":3.4,"publicationDate":"2023-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46635805","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Kane’s equations for nonholonomic systems in bond-graph-compatible velocity and momentum forms 键图相容速度和动量形式下非完整系统的凯恩方程
2区 工程技术
Multibody System Dynamics Pub Date : 2023-06-30 DOI: 10.1007/s11044-023-09919-3
James R. Phillips, Farid Amirouche
{"title":"Kane’s equations for nonholonomic systems in bond-graph-compatible velocity and momentum forms","authors":"James R. Phillips, Farid Amirouche","doi":"10.1007/s11044-023-09919-3","DOIUrl":"https://doi.org/10.1007/s11044-023-09919-3","url":null,"abstract":"","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":"162 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136017204","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Non-smooth numerical solution for Coulomb friction, rolling and spinning resistance of spheres applied to flexible multibody system dynamics 应用于柔性多体系统动力学的球面库仑摩擦、滚动和旋转阻力的非光滑数值解
IF 3.4 2区 工程技术
Multibody System Dynamics Pub Date : 2023-06-29 DOI: 10.1007/s11044-023-09920-w
Eliana Sánchez, Alejandro Cosimo, O. Brüls, Alberto Cardona, F. J. Cavalieri
{"title":"Non-smooth numerical solution for Coulomb friction, rolling and spinning resistance of spheres applied to flexible multibody system dynamics","authors":"Eliana Sánchez, Alejandro Cosimo, O. Brüls, Alberto Cardona, F. J. Cavalieri","doi":"10.1007/s11044-023-09920-w","DOIUrl":"https://doi.org/10.1007/s11044-023-09920-w","url":null,"abstract":"","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":"59 1","pages":"69 - 103"},"PeriodicalIF":3.4,"publicationDate":"2023-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46898722","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of a constraint stabilization method of multibody systems based on fuzzy logic control 基于模糊逻辑控制的多体系统约束稳定方法研究
IF 3.4 2区 工程技术
Multibody System Dynamics Pub Date : 2023-06-27 DOI: 10.1007/s11044-023-09921-9
A. Nada, M. Bayoumi
{"title":"Development of a constraint stabilization method of multibody systems based on fuzzy logic control","authors":"A. Nada, M. Bayoumi","doi":"10.1007/s11044-023-09921-9","DOIUrl":"https://doi.org/10.1007/s11044-023-09921-9","url":null,"abstract":"","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":" ","pages":""},"PeriodicalIF":3.4,"publicationDate":"2023-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44219630","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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