Application of Runge-Kutta-Rosenbrock Methods to the Analysis of Flexible Multibody Systems

摘要: Numerical integration methods are discussed for general equations of motion multibody systems with flexible parts, which fairly stiff, time-dependent and non-linear. A family semi-implicit methods, belong to the class Runge–Kutta–Rosenbrock rather weak non-linear stability properties, developed. These comprise first, second third order accuracy that A-stable L-stable hence introduce numerical damping filtering high frequency components. It is shown, both from theory examples, it generally preferable use deformation mode coordinates global nodal as independent variables in formulation motion. The applied a series examples consisting an elastic pendulum, beam supported by springs, four-bar mechanism, robotic manipulator collocated control.