Quasistatic approximations for stiff second order differential equations

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Quasistatic approximations for stiff second order differential equations

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Quasistatic approximations for stiff second order differential equations

Popis výsledku anglicky

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.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JR - Ostatní strojírenství

OECD FORD obor

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Projekt

—

Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)<br>I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2012

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Applied Numerical Mathematics

ISSN

0168-9274

e-ISSN

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Svazek periodika

62

Číslo periodika v rámci svazku

10

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

12

Strana od-do

1579-1590

Kód UT WoS článku

000308685700026

EID výsledku v databázi Scopus

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