A Numerical Scheme for Impact Problems II: The Multidimensional Case
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approximate calculation of solutionsconvergencemultidimensional mechanical systemsnon holonomic systems with impact constraintsnumerical experiments
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.
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