Based on the continuous Galerkin method, a time-discrete variational integrator was presented for multibody dynamic systems with nonholonomic constraints. The weighted residual statements of Hamilton’s canonical equations were taken firstly. Then time-stepping schemes were outlined, and algorithmic conservations were discussed. Finally, a simplified model of the skateboard validated the accuracy and efficiency of the method presented.
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丁洁玉,潘振宽.非完整约束多体系统时间离散变分积分法[J].动力学与控制学报,2011,9(4):289~292; Ding Jieyu, Pan Zhenkuan. Time-discrete variational integrator for multibody dynamic systems with nonholonomic constraints[J]. Journal of Dynamics and Control,2011,9(4):289-292.