Port-Hamiltonian flexible multibody dynamics

Authors

Andrea Brugnoli, Daniel Alazard, Valérie Pommier-Budinger, Denis Matignon

Abstract

A new formulation for the modular construction of flexible multibody systems is presented. By rearranging the equations for a flexible floating body and introducing the appropriate canonical momenta, the model is recast into a coupled system of ordinary and partial differential equations in port-Hamiltonian (pH) form. This approach relies on a floating frame description and is valid under the assumption of small deformations. This allows including mechanical models that cannot be easily formulated in terms of differential forms. Once a pH model is established, a finite element based method is then introduced to discretize the dynamics in a structure-preserving manner. Thanks to the features of the pH framework, complex multibody systems could be constructed in a modular way. Constraints are imposed at the velocity level, leading to an index 2 quasilinear differential-algebraic system. Numerical tests are carried out to assess the validity of the proposed approach.

Keywords

Port-Hamiltonian systems; Floating frame formulation; Flexible multibody systems; Structure-preserving discretization; Substructuring

Citation

• Journal: Multibody System Dynamics
• Year: 2021
• Volume: 51
• Issue: 3
• Pages: 343–375
• Publisher: Springer Science and Business Media LLC
• DOI: 10.1007/s11044-020-09758-6

BibTeX

@article{Brugnoli_2020,
  title={{Port-Hamiltonian flexible multibody dynamics}},
  volume={51},
  ISSN={1573-272X},
  DOI={10.1007/s11044-020-09758-6},
  number={3},
  journal={Multibody System Dynamics},
  publisher={Springer Science and Business Media LLC},
  author={Brugnoli, Andrea and Alazard, Daniel and Pommier-Budinger, Valérie and Matignon, Denis},
  year={2020},
  pages={343--375}
}

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