Natural co-ordinates for control applications



Natural coordinates have emerged to be well-suited for both rigid and flexible multibody dynamics. Especially the combination of structural elements and energy-momentum consistent time stepping schemes leads to superior numerical stability as well as an automatable assembly, resulting in both excellent run-time behaviour as well as moderate modelling effort (see [1]). Incorporation of modern methods for finite-element simulations, such as mortar methods for contact or domain decomposition both for structural elements as well as continuum elements is straightforward ([2]).

Augmentation techniques allow a systematic integration of both mechanical and non-mechanical quantities for simulation (see [3] and [4]), which makes this approach suitable especially for emulation and simulation of mechatronic systems. We will present an approach for evaluating forward control strategies with flexible multibody systems. (© 2012 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)