Multibody Dynamics A wb1310

Arend L. Schwab Laboratory for Engineering Mechanics Delft University of Technology Spring 2011 5th lecture

Contents Lecture 1th 2nd Topic Introduction, Teamup. Newton-Euler eqns of motion for a 3D rigid body. Orientation of a Rigid Body in Space. Modelling of Mechanical Systems. Coupled Dierential and Algebraic equations. Overview. Assignment 1Pendulum 2Wheel

3rd 4th 5th

3Crane 4Governer 5Tractor

6th

5Tractor

Written Exam: Tue June 28, 2011, 1417 h.

Coupled Dierential and Algebraic Equations (DAEs) For the dynamic analysis of systems of interconnected rigid bodies, the so-called multibody systems, we have the Newton-Euler equations of motion for the rigid bodies together with the algebraic equations expressing the interconnections or constraints. Together these result in a set of coupled dierential and algebraic equations (DAEs) from which we can solve the motion. The principle of virtual power tells us something about the equilibrium of the system. Proposition: The system is in equilibrium if the virtual power of the applied forces is zero for all virtual velocities which fulll the constraints.
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dAlemberts Tric: Transform a dynamics problem into a statics problem by adding the inertia forces to the applied forces. The virtual power of the applied forces together with the inertia forces is now (fi Mij xj ) xi = 0, with i, j = 1..n, and n = 6b where b is number of bodies. In general the constraints can be written as: Ck (xi, t) = 0, with k = 1..m, where m is the total number of constraints, e.g. for s hinges m = 5 s. Dierentiation with respect to time results in m constraints on the velocities xi: Ck = Ck Ck xi + = 0. xi t
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The virtual velocities have to fulll these velocity constraints (virtual = time stands still): Ck = Ck xi = 0. xi

These constraints on the virtual velocities can be added to the virtual power by means of the (unknown) Lagrange multipliers k , as many as we have constraints Ck = 0: (fi Mij xj ) xi = k Ck , Substitution of the expressions for the virtual velocities results in: C (fi Mij xj ) xi = (k k ) xi, xi

This must hold for arbitrary virtual velocities xi, therefore the scalar virtual power equation results in i dierential equations: Ck Mij xj + k = fi, xi These are the n dierential equations of motion with n + m unknowns, namely: xi and k . Next add the m algebraic equations for the constraints. But since the unknowns are the accelerations we will dierentiate these constraints twice with respect to time : 2Ck Ck,ixi + Ck,ij xixj + 2 xi + = 0, t t2 where we use the comma notation to express partial derivatives, e.g. Ck,i = Ck . x Ck,i
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Finally we have the complete set of coupled Dierential and Algebraic Equations (DAEs): Mij xj + Ck k = fi, xi

Ck,ixi = ddCk . with the known acceleration terms 2Ck xi + . ddCk = Ck,ij xixj + 2 2 t t Ck,i Or in mixed Matrix-Vector-Index notation: Mij Ck,i Ck,j 0kk xj k = fi ddCk .

The motion of the system can now be found by numerical integration of the time derivatives of the state (state equations). Where the state of the system is given by the moment in time t, the positions of the centres of mass of the rigid bodies (x, y, z)i (i = 1..b, where b is the number of rigid bodies), the orientation of the rigid bodies expressed in f.i. the Euler angles (, , )i, the velocities of the centres of mass (x, y, z)i, and the angular velocities of the rigid bodies (x, y , z )i expressed in the body xed frame x y z . These state equations are: d(x, y, z)i/dt d(, , )i/dt d(x, y, z)i/dt d(x, y , z )i/dt = = = = (x, y, z)i A((, , )i)(x, y , z )i (, y , z )i from the DAEs x (x, y , z )i from the DAEs

with, for (313) Euler angles, the A matrix as c 0 1 s s c s s 0 . A((, , )i ) = s i c s c c s

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