When Baumgarte’s Constraint Violation Stabilization Method (CVSM) is used in the simulation of Lagrange equations of motion with holonomic constraints, it is shown that, with suitable assumptions on the integration step size h and the eigenvalues (λ’s) of the linearized system, the constraint variables are effectively integrated by the same algorithm as that used for the state variables. A numerical stability analysis of the constraint violations can be performed using this so-called pseudo-integration equation. A study is also made of truncation errors and their modeling in the continuous time domain. This model can be used to determine the effectiveness of various constraint controls and integration methods in reducing the errors in the solution due to truncation errors. Examples are presented to illustrate the use of a higher-order truncation error model which leads to an accurate quantitative steady-state analysis of the constraint violations.
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September 1995
Research Papers
Stability and Accuracy Analysis of Baumgarte’s Constraint Violation Stabilization Method
S. Yoon,
S. Yoon
Korea institute of Aeronautical Technology, Korean Air, 118, 2-ka, Namdaemun-ro, Chung-ku, Seoul, Korea
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R. M. Howe,
R. M. Howe
Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109
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D. T. Greenwood
D. T. Greenwood
Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109
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S. Yoon
Korea institute of Aeronautical Technology, Korean Air, 118, 2-ka, Namdaemun-ro, Chung-ku, Seoul, Korea
R. M. Howe
Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109
D. T. Greenwood
Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109
J. Mech. Des. Sep 1995, 117(3): 446-453 (8 pages)
Published Online: September 1, 1995
Article history
Received:
September 1, 1991
Revised:
August 1, 1993
Online:
December 11, 2007
Citation
Yoon, S., Howe, R. M., and Greenwood, D. T. (September 1, 1995). "Stability and Accuracy Analysis of Baumgarte’s Constraint Violation Stabilization Method." ASME. J. Mech. Des. September 1995; 117(3): 446–453. https://doi.org/10.1115/1.2826699
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