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Port-Hamiltonian flexible multibody dynamics

Brugnoli, Andrea and Alazard, Daniel and Pommier-Budinger, Valérie and Matignon, Denis Port-Hamiltonian flexible multibody dynamics. (2021) Multibody System Dynamics, 51 (3). 343-375. ISSN 1384-5640

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Official URL: https://doi.org/10.1007/s11044-020-09758-6

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.

Item Type:Article
Additional Information:This work is supported by the project ANR-16-CE92-0028, entitled Interconnected Infinite-Dimensional systems for Heterogeneous Media , INFIDHEM, financed by the French National Research Agency (ANR) and the Deutsche Forschungsgemeinschaft (DFG). Further information is available at https://websites.isae-supaero.fr/infidhem/the-project
HAL Id:hal-02967061
Audience (journal):International peer-reviewed journal
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Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
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Deposited On:14 Oct 2020 12:58

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