Differential-algebraic equations in vehicle system dynamics (Q803736)

The motion of multibody systems with certain connections of the elements is described in the most convenient way by a system of differential- algebraic equations (DAE) that are generated by computer-aided formalisms. The approach is outlined by the example of a rotating pendulum together with some extensions. An introductory review of DAE's is given starting with the case of linear DAE's and then generalizing to nonlinear systems leading to the concept of the index of such systems, the consistency conditions of the initial values and the meaning of the so-called perturbation index. The problems of existence and uniqueness of a solution are discussed by an algebraic and a differential geometric approach. The numerical integration of the equations of motion is reviewed and applications of multistep methods, implicit Runge-Kutta methods, stabilization techniques and overdetermined DAE's is discussed. Finally, an example of a simple wheelset moving along a curve is presented in order to illustrate the concepts and techniques discussed in the paper.