Quasistatic approximations for stiff second order differential equations

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F12%3A00215036" target="_blank" >RIV/68407700:21220/12:00215036 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1016/j.apnum.2012.06.030" target="_blank" >http://dx.doi.org/10.1016/j.apnum.2012.06.030</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.apnum.2012.06.030" target="_blank" >10.1016/j.apnum.2012.06.030</a>

Result language
angličtina
Original language name
Quasistatic approximations for stiff second order differential equations
Original language description
Stiff terms in second order ordinary differential equations may cause large computation time due to high frequency oscillations. Quasistatic approximations eliminate these high frequency solution components in the dynamical simulation of multibody systems by neglecting inertia forces. In the present paper, we study the approximation error of this approach using classical results from singular perturbation theory. The transformation of the linearly implicit second order model equations from multibody dynamics to the canonical (semi-)explicit form of first order singularly perturbed ordinary differential equations is studied in detail. Numerical tests for the model of a walking mobile robot with stiff contact forces between legs and ground show that thecomputation time may be reduced by a factor up to 10 using the proposed quasistatic approximation.
Czech name
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Czech description
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Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JR - Other machinery industry
OECD FORD branch
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Project
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Continuities
Z - Vyzkumny zamer (s odkazem do CEZ)<br>I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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