A direct violation correction method in numerical simulation of constrained multibody systems

Abstract

 A new direct violation correction method for constrained multibody systems is presented. It can correct the value of state variables of the systems directly so as to satisfy the constraint equations of motion. During the integration of the dynamic equations of constrained multibody systems, this method can efficiently control the violations of constraint equations within any given accuracy at each time-step. Compared to conventional indirect methods, especially Baumgarte's Constraint Violation Stabilization Method, this method has clear physical meaning, less calculation and obvious correction effect. Besides, this method has minor effect on the form of the dynamic equations of systems, so it is stable and highly accurate. A numerical example is provided to demonstrate the effectiveness of this method.