Automated Linearization of Nonlinear Coupled Differential and Algebraic Equations

[+] Author and Article Information
J. D. Trom, M. J. Vanderploeg

Dept. of Mechanical Engineering, Iowa State University, Ames, IA 50011

J. Mech. Des 116(2), 429-436 (Jun 01, 1994) (8 pages) doi:10.1115/1.2919397 History: Received October 01, 1992; Online June 02, 2008


This paper presents a new approach for linearization of large multibody dynamic systems. The approach uses an analytical differentiation of terms evaluated in a numerical equation formulation. This technique is more efficient than finite difference and eliminates the need to determine finite difference pertubation values. Because the method is based on a relative coordinate formalism, linearizations can be obtained for equilibrium configurations with non-zero Cartesian accelerations. Examples illustrate the accuracy and efficiency of the algorithm, and its ability to compute linearizations for large-scale systems that were previously impossible.

Copyright © 1994 by The American Society of Mechanical Engineers
Topics: Equations
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