Accelerated component-based port-Hamiltonian modeling of rigid-flexible multibody dynamics

Authors

Mingdong Chen, Mingji Wang, Gang Wang, Ziyun Kan, Zhiqin Cai, Xianhao Han, Haijun Peng

Abstract

This paper proposes a modular, efficient, and stable numerical approach based on the port-Hamiltonian (pH) framework for the simulation of rigid-flexible multibody dynamics. The proposed method resolves the strongly nonlinear rigid-flexible coupling characteristics exhibited by variable-topology flexible multibody systems undergoing high-speed rotation and large spatial maneuvering, and enables the efficient marching of numerically stiff problems faced by traditional methods. By constructing a unified multi-domain energy description framework based on port-Hamiltonian theory, standardized modeling of system dynamic behavior is achieved. Model smoothing techniques are employed for model denoising, effectively overcoming the stiff problems. Furthermore, built upon the Component-Level Co-rotational (C-CR) finite element formulation, the method combines the symplectic Euler midpoint (SEM) scheme with the Component-Based Enhanced Solution (CES) strategy, enabling the efficient resolution of large-scale nonlinear equations while preserving energy conservation properties in long-term numerical simulations. Numerical simulations show that the proposed method exhibits significant advantages in both numerical stability and computational efficiency, providing a novel framework for eVTOL aircraft simulation, design, and control.

Keywords

component-level co-rotational formulation, differential–algebraic equations, model smoothing method, numerical stiffness, port-hamiltonian framework, rigid-flexible multibody dynamics, symplectic integration

Citation

• Journal: Nonlinear Dynamics
• Year: 2026
• Volume: 114
• Issue: 14
• Pages:
• Publisher: Springer Science and Business Media LLC
• DOI: 10.1007/s11071-026-12788-y

BibTeX

@article{Chen_2026,
  title={{Accelerated component-based port-Hamiltonian modeling of rigid-flexible multibody dynamics}},
  volume={114},
  ISSN={1573-269X},
  DOI={10.1007/s11071-026-12788-y},
  number={14},
  journal={Nonlinear Dynamics},
  publisher={Springer Science and Business Media LLC},
  author={Chen, Mingdong and Wang, Mingji and Wang, Gang and Kan, Ziyun and Cai, Zhiqin and Han, Xianhao and Peng, Haijun},
  year={2026}
}

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