Advanced SearchSearch Tips
Construction of System Jacobian in the Equations of Motion Using Velocity Transformation Technique
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Construction of System Jacobian in the Equations of Motion Using Velocity Transformation Technique
Lee, Jae-Uk; Son, Jeong-Hyeon; Kim, Gwang-Seok; Yu, Wan-Seok;
  PDF(new window)
The Jacobian matrix of the equations of motion of a system using velocity transformation technique is derived via variation methods to apply the implicit integration algorithm, DASSL. The concept of generalized coordinate partitioning is used to parameterize the constraint set with independent generalized coordinates. DASSL is applied to determine independent generalized coordinates and velocities. Dependent generalized coordinates, velocities, accelerations and Lagrange multipliers are explicitly retained in the formulation to satisfy all of the governing kinematic and dynamic equations. The derived Jacobian matrix of a system is proved to be valid and accurate both analytically and through solution of numerical examples.
System Jacobian;Velocity Tranformation Technique;Implicit Integration Method;
 Cited by
실시간 주행성 분석에 기반한 6×6 스키드 차량의 야지 고속 자율주행 방법,주상현;이지홍;

제어로봇시스템학회논문지, 2012. vol.18. 3, pp.251-257 crossref(new window)
Kim, S. S. and Vanderploeg, M. J., 1984, 'A State Space Formulation for Multibody Dynamic System Subject to Control,' Technical Report No. 84-20

Bae, D. S. and Haug, E. J., 1987, 'A Recursive Formulation for Constrained Mechanical System Dynamics: Part Ⅱ, Closed Loop System,' Mechanics of Structures and Machines, Vol. 15

최대환, 유완석, 2000, '실시간 동역학 시뮬레이션을 위한 기호연산기법의 효율성에 관한 연구,' 대한기계학회논문집 A, 24(7), 1878-1884

Petzold, L., 1982, 'A Description of DASSL: A Differential/Algebraic System Solver,' Proc.10th IMACS World Congress on System Silmulation and Scientific Computation, August 8-13

Chace, M. A., 1984, 'Methods and Experience in Computer Aided Design of Large Displacement Mechanical System,' NATO ASI Vol. F9, Computer Aided Analysis and Optimization of Mechanical System Dynamics, Ed by E. J. Haug, Spingerverlag, Berlin-Heidelberg

Wehage, R. A. and Haug, E. J., 1982, 'Generalized Coordinates Partioning for Dimension Reduction in Analysis of Constrained Dynamic System,' J. of Mechanical Design, Vol. 104, pp. 247-255

Baumgarte, J., 1972, 'Stabilization of Constraints and Integrals of Motion in Dynamical Systems,' Computer Methods in Applied Mechanics and Engineering, Vol. 1, pp. 1-16 crossref(new window)

Haung, E. J. and Yen, J., 1989, 'Impicit Numerical Integration of Constrained Equations of Motion via Generalized Coordinate Partitioning,' Technical Report R-39

박민영, 이정근, 1998, '차량 실시간 시뮬레이션을 위한 암시적 수치 적분 알고리듬 개발,' 한국자동차공학회논문집, 제6권 제3호, 143-153

Shampine, L. F. and Gordon, M. K., 1975, 'Computer Solution of Ordinary Differential Equations: The Initial Value Problem,' W. J. Freeman, San Francisco, California

Jerkovsky, W., 1978, 'The Structure of Multibody Dynamics Equations,' Journal of Guidance and Control, Vol. 1, No. 3, pp. 173-182