Multibody dynamic response optimization with ALM and approximate line search

DOI10.1023/A:1009711223161MaRDI QIDQ1371485zbMATH OpenOpenAlexFDO

Authors Min-Soo Kim, Dong-Hoon Choi

Publication date 24 September 1998

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1009711223161

zbMATH Keywords

constraint equationscontrol mechanism of helicoptergeometric-algebraic methodsmulti-loop multibody systemsrecursively solvable polynomials of degree twosmallest independent loopssoftware package SYMKINsymbolic equationswheel suspension

Mathematics Subject Classification ID

Numerical optimization and variational techniques (65K10) Symbolic computation and algebraic computation (68W30) Computational methods for problems pertaining to mechanics of particles and systems (70-08) Free motion of a rigid body (70E15) Lagrange's equations (70H03)

Review text

A method to generate automatically the equations of motion for multi-loop multibody systems is described. The aim is to find symbolic closed form solutions at position, velocity and acceleration level. The basic idea is to decompose the complex system into a set of independent simple loops, to generate the symbolic equations and to reassemble the whole system. It turns out that closed form solutions are more efficient for mechanisms for which the constraint equations can be formulated as a system of recursively solvable polynomials of degree two. The described algorithm is impemented in a software package SYMKIN, which is used to demonstrate the efficiency of the proposed method for two examples, namely a simple wheel suspension and a rather complicated control mechanism of a helicopter.

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Cited in

(6)

• Design optimization of multibody systems by sequential approximation
• Symbolic processing of multiloop mechanism dynamics using closed-form kinematics solutions
• Optimal dynamics of actuated kinematic chains. I: Dynamic modelling and symbolic differentiations
• Optimal dynamics of actuated kinematic chains. II: Problem statements and computational aspects
• Automated Approach for Optimizing Dynamic Systems
• A review of optimization of structures subjected to transient loads

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