| Contents |
| This talk is devoted to the consistent numerical integration of nonsmooth flexible multibody systems with impacts and friction. We bring together two ideas at the same time. First, we split non-impulsive and impulsive force propagation. In the context of time-discontinous Galerkin methods, we take care of possible impacts and allow velocity jumps at the end of each discretization interval. Second inside discretization intervals, we use sophisticated base integration schemes known from computational mechanics. For non-impulsive periods, the generalized-alpha, ED-alpha (energy-decaying) or Bathe method are motivated by automatically reducing artificial high-frequencies being in the numerical model due to standard space discretization schemes. This technique mixes non-impulsive and impulsive integration strategies, but from the beginning embeds non-impulsive discretizations consistently in a concept which allows velocity jumps and impacts. For the purpose of comparison, the integration schemes are applied to mechanical systems with impacts and Coulomb friction, e.g. imperfect slider-crank type mechanisms. We study convergence, computing time and vibrational behavior by this numerical experiment and discuss the representation of physical oscillations. |
|