具有摩擦单边约束的机械系统的非平滑 RATTLE 算法

IF 3.7 2区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Nonlinear Analysis-Hybrid Systems Pub Date : 2024-02-06 DOI:10.1016/j.nahs.2024.101469

Jonas Breuling , Giuseppe Capobianco , Simon R. Eugster , Remco I. Leine

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引用次数: 0

摘要

1983 年，安德森提出了 RATTLE 算法，作为 SHAKE 算法的扩展。RATTLE 算法是模拟具有完美双边约束的机械系统的成熟方法。本文进一步扩展了 RATTLE 算法，用于模拟具有摩擦单边约束（即摩擦接触）的非光滑机械系统。因此，它满足了在接触状态不变（即无碰撞/恒定滑动状态）的非光滑接触动力学框架内对高阶积分方法的需求。特别是，所提出的方法可以用二阶精确位置和速度模拟无碰撞运动，如持续摩擦接触，并禁止位置水平上的单边约束穿透。

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A nonsmooth RATTLE algorithm for mechanical systems with frictional unilateral constraints

In 1983, Andersen proposed the RATTLE algorithm as an extension of the SHAKE algorithm. The RATTLE algorithm is a well-established method for simulating mechanical systems with perfect bilateral constraints. This paper further extends RATTLE for simulating nonsmooth mechanical systems with frictional unilateral constraints (i.e. frictional contact). With that, it satisfies the need for higher-order integration methods within the framework of nonsmooth contact dynamics in phases where the contact status does not change (i.e. no collisions/constant sliding states). In particular, the proposed method can simulate impact-free motions, such as persistent frictional contact, with second-order accurate positions and velocities and prohibits penetration by unilateral constraints on position level.

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来源期刊

Nonlinear Analysis-Hybrid Systems AUTOMATION & CONTROL SYSTEMS-MATHEMATICS, APPLIED

CiteScore

8.30

自引率

9.50%

发文量

审稿时长

>12 weeks

期刊介绍： Nonlinear Analysis: Hybrid Systems welcomes all important research and expository papers in any discipline. Papers that are principally concerned with the theory of hybrid systems should contain significant results indicating relevant applications. Papers that emphasize applications should consist of important real world models and illuminating techniques. Papers that interrelate various aspects of hybrid systems will be most welcome.