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RESEARCH PAPERS

On an Implementation of the Hilber-Hughes-Taylor Method in the Context of Index 3 Differential-Algebraic Equations of Multibody Dynamics (DETC2005-85096)

[+] Author and Article Information
Dan Negrut1

Department of Mechanical Engineering, The University of Wisconsin, Madison, WI 53706negrut@wisc.edu

Rajiv Rampalli

 MSC.Software, Ann Arbor, MI 48105rajiv.rampalli@mscsoftware.com

Gisli Ottarsson

 MSC.Software, Ann Arbor, MI 48105gisli.ottarsson@mscsoftware.com

Anthony Sajdak

 MSC.Software, Ann Arbor, MI 48105anthony.sajdak@mscsoftware.com

1

Corresponding author.

J. Comput. Nonlinear Dynam 2(1), 73-85 (Jul 05, 2006) (13 pages) doi:10.1115/1.2389231 History: Received April 01, 2006; Revised July 05, 2006

The paper presents theoretical and implementation aspects related to a numerical integrator used for the simulation of large mechanical systems with flexible bodies and contact/impact. The proposed algorithm is based on the Hilber-Hughes-Taylor (HHT) implicit method and is tailored to answer the challenges posed by the numerical solution of index 3 differential-algebraic equations that govern the time evolution of a multibody system. One of the salient attributes of the algorithm is the good conditioning of the Jacobian matrix associated with the implicit integrator. Error estimation, integration step-size control, and nonlinear system stopping criteria are discussed in detail. Simulations using the proposed algorithm of an engine model, a model with contacts, and a model with flexible bodies indicate a 2 to 3 speedup factor when compared against benchmark MSC.ADAMS runs. The proposed HHT-based algorithm has been released in the 2005 version of the MSC.ADAMS/Solver.

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Copyright © 2007 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Poly-V accessory belt.

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Figure 2

X-component of reaction force

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Figure 3

HHT and GSTIFF differences

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Figure 4

Alternator angular velocity

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Figure 5

Alternator force difference

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Track subsystem model

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Acceleration and velocity of track 8

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Figure 8

All-terrain vehicle (ATV)

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Figure 9

Comparison of vertical reaction force

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Figure 10

Engine pitch angular velocity

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Figure 11

Angular velocity difference

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