A Numerical Scheme for Impact Problems II: The Multidimensional Case

DOI10.1137/S003614290037873XMaRDI QIDQ4785794zbMATH OpenFDO

Authors Michelle Schatzman, Laetitia Paoli

Publication date 5 January 2003

Published in SIAM Journal on Numerical Analysis (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/math/9910013

approximate calculation of solutions convergence multidimensional mechanical systems non holonomic systems with impact constraints numerical experiments

Mathematics Subject Classification ID

Nonlinear ordinary differential equations and systems (34A34) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15) Numerical methods for initial value problems involving ordinary differential equations (65L05) Stability and convergence of numerical methods for ordinary differential equations (65L20) Numerical methods for Hamiltonian systems including symplectic integrators (65P10) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Abstract: We consider a mechanical system with impact and n degrees of freedom, written in generalized coordinates. The system is not necessarily Lagrangian. The representative point of the system must remain inside a set of constraints K; the boundary of K is three times differentiable. At impact, the tangential component of the impulsion is conserved, while its normal coordinate is reflected and multiplied by a given coefficient of restitution e between 0 and 1. The orthognality is taken with respect to the natural metric in the space of impulsions. We define a numerical scheme which enables us to approximate the solutions of the Cauchy problem: this is an ad hoc scheme which does not require a systematic search for the times of impact. We prove the convergence of this numerical scheme to a solution, which yields also an existence result. Without any a priori estimates, the convergence and the existence are local; with some a priori estimates, the convergence and the existence are proved on intervals depending exclusively on these estimates. This scheme has been implemented with a trivial and a non trivial mass matrix.

Review text

An extension of the one degree of freedom impact problem considered in part I [ibid. 40, 516-542 (2002; Zbl 1021.65065)] to mechanical systems with several degrees of freedom is presented. The system is assumed to possess \(d\)--degrees of freedom and the free dynamics, in terms of generalized coordinates \( u \in\mathbb{R}^d \), satisfies a differential system of type: \( M(u) \ddot{u} = f( \cdot , u , p) \) with \( p = M(u) \dot{u}\). The motion of the system must stay inside a closed set \(K\) with sufficiently smooth boundary and at any impact the tangential component of the impulsion is conserved and its normal component is reflected and multiplied by some given restitution coefficient \( e \in [0,1]\). In this setting the authors propose a numerical scheme which generalizes the scheme of the one dimensional case. Some local results on convergence and estimates on relevant physical magnitudes are given. The paper ends reporting on some numerical experiments on the dynamics of a mechanical model formed by a finite number of identical cylindrical segments of circular section with a half sphere at the end.

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