Study on efficient numerical time-integration methods for simulation of multi-body systems

Study on efficient numerical time-integration methods for simulation of multi-body systems

ten Dam, A.A.
Dieleman, P.

National Aerospace Laboratory NLR

1990-01-24

This report describes the results of an evaluation of numerical integration schemes to be used for the digital simulation of second order ordinary differential equations (ODE's) which are characteristic for multibody systems such as space manipulators. The study focuses on dedicated schemes for this type of systems. Main attention is paid to the Newmark and Wilson methods and the Nystrom version of the classical Runge-Kutta schemes. Simulations were carried out to illustrate advantages and disadvantages of the methods studied. Newmark type of numerical integration schemes are especially useful for long-period simulation when a relatively low order of accuracy is required. For high accuracy simulations with acceptable performance Runge-Kutta-Nystrom types of schemes are promising. Consequences of weak and strong system non-linearities on stability and accuracy of integration schemes have not been studied explicitly and are advised as topics for further research in the near future.

dynamic structural analysis
computerized simulation
nonlinear equations
differential equations
numerical integration
Runge-Kutta method
numerical stability
algorithms
dynamic models
many body problem
manipulators
robotics

http://resolver.tudelft.nl/uuid:79d384a0-cf7e-4e7f-8a9e-850afa51c521

Nationaal Lucht- en Ruimtevaartlaboratorium

Campus only

NLR Technical Publication TP 90035 U

Aerospace Engineering Reports

report

(c) 1990 National Aerospace Laboratory NLR