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Constraint treatment techniques and parallel algorithms for multibody dynamic analysisComputational procedures for kinematic and dynamic analysis of three-dimensional multibody dynamic (MBD) systems are developed from the differential-algebraic equations (DAE's) viewpoint. Constraint violations during the time integration process are minimized and penalty constraint stabilization techniques and partitioning schemes are developed. The governing equations of motion, a two-stage staggered explicit-implicit numerical algorithm, are treated which takes advantage of a partitioned solution procedure. A robust and parallelizable integration algorithm is developed. This algorithm uses a two-stage staggered central difference algorithm to integrate the translational coordinates and the angular velocities. The angular orientations of bodies in MBD systems are then obtained by using an implicit algorithm via the kinematic relationship between Euler parameters and angular velocities. It is shown that the combination of the present solution procedures yields a computationally more accurate solution. To speed up the computational procedures, parallel implementation of the present constraint treatment techniques, the two-stage staggered explicit-implicit numerical algorithm was efficiently carried out. The DAE's and the constraint treatment techniques were transformed into arrowhead matrices to which Schur complement form was derived. By fully exploiting the sparse matrix structural analysis techniques, a parallel preconditioned conjugate gradient numerical algorithm is used to solve the systems equations written in Schur complement form. A software testbed was designed and implemented in both sequential and parallel computers. This testbed was used to demonstrate the robustness and efficiency of the constraint treatment techniques, the accuracy of the two-stage staggered explicit-implicit numerical algorithm, and the speed up of the Schur-complement-based parallel preconditioned conjugate gradient algorithm on a parallel computer.
Document ID
19910004446
Acquisition Source
Legacy CDMS
Document Type
Thesis/Dissertation
Authors
Chiou, Jin-Chern (Colorado Univ. Boulder, CO, United States)
Date Acquired
September 6, 2013
Publication Date
November 1, 1990
Subject Category
Structural Mechanics
Report/Patent Number
CU-CSSC-90-26
NAS 1.26:187668
NASA-CR-187668
Accession Number
91N13759
Funding Number(s)
CONTRACT_GRANT: NAG1-756
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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