Construction of System Jacobian in the Equations of Motion Using Velocity Transformation Technique

속도변환법을 이용한 운동방정식의 시스템자코비안 구성

  • Published : 2001.12.01


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.


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