New Algorithm for Solving Euler-LagrangeEquations of Multibody System Dynamics
Yang Dongwu,Duan Baoyan,Di Jiejian
(School of Electromechanical Engineering, Xidian University, Xi’an 710071, China)

Abstract: For a multibody system with holonomic constrains, the Euler-Lagr ange dynamic equations of the system are characterized as a set of differential-a lgebraic ones with an index larger than 2, the corresponding algorithm is adopted, where the differential-algebraic equations are treated directly as a set of nonlinear algebraic equations to differ from the traditional algorithms, such as constraint regularization method and constraint reduction method. A comparative simulation for typical pendulum indicates that the proposed method outperforms BDF method and constraint stabilization method.
Keyword: multibody system dynamics, differential-algebraic equations, differential index.