A new constraint stabilization technique, based on the velocity correction method, is proposed for solving multibody dynamic (MBD) systems with nonholonomic constraints. The technique is based on the assumption that the numerical errors occurred in updating both the nonholonomic constraint equation and the numerically integrated velocity. A numerical example demonstrates that the constraint errors of nonholonomic constraint are close to the machine constant for the several chosen numerical time integrators.
ASJC Scopus subject areas
- Control and Systems Engineering
- Aerospace Engineering
- Space and Planetary Science
- Electrical and Electronic Engineering
- Applied Mathematics