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MODELLING & SIMU Lt
nee. qua fies yrodter
TION
*y “fe my So
"8
oe oh $= [x YO) 3H
meray Zbl = pote yong + KO
3 im 0 OA & $.)
o mo st + = 8°
= oF Oa 5X
= Thal conditions + auto, ©) ‘i
2 Ya ge] > Sa
30) ;, Be)
L. =
re et oe
cA
= y/ 4¥ Le yee engi
= Net defbedion
= \Apainb
= x
== wf ALe hoes ‘ a y Fe: spring fever
i -& i No
. : Fe ak (VL b
— aching. $ Rina z
ee , a ae Tnitially: in face state
ee :
[3g a ol Ne
f
em > kre
L
mv, +k = k(y+) aD) +(e)
=~
to Isf ovdew
= pqs di equation,
= & +
eo eeeser iD) AL)0)
with ae ye § wlan |
°
A S time i [x4 = x00] = Il0)
lr re x
: s = -KxlT
, | E (otst)- 7017) = K(wto10)
to fo mi
ley)
At EULER EXPLIT SCHEME ——_
X Coby XW) XU)
=) +t
X, Lot) X20) Ky +, wrt)
> a i ats oe % v )
alee m yt k aD
Ee: F444 Ginvs = Gest
y(=a YW)=b
Ya Ke + SiN) = OSE | gor +(0)=a 1(0)=b
fare
ee
C Fes -K [iy nk
) Ba
yo!
os a Io cay
ge ete
x
2.
ae pie
=> ae EN
«
claw aS mr
ori)
PURAHHHHHERDEEYUEE, omvg ch Cat Ke = KUrprnis16%
vans X= X2
Ky = Ley -ke 4 K (yt tL
m mn m™m ™
tule Tatearosty : (
wl i
4 a bel are
My =
9q = LOD +L TECH) |
Xq=0
mM. ee I
Linear Syste %= Axs 1)
explicct
-fanckon
vf time.
> { mgt Cte the = Koma) +e4-F
Vz lo) + Yo (0)
Check 4 at Equilibria and Vi~ 0
Ky = Rie =? OER
Chiuk> trang rash four mb deen =0
feo cso
Ee
Limi.
gig Leng |
Cuks xe)“ x~peh zo
=
co
ean -[u] uel wale)
We) ye
Ae
Meee) = KORE Wl lou
fe loony sy) \ + {Ga HF)
> vm = KA) rm) a a ;
mi % = ea) pry) + ely) ay
a
Wyre = Xa 5 fend Se
, 4h
Tniqial Conditions »— een
Jared git] = [ero] R= %
[ 20°) INTEGRATOR,
VN ee) oo: sheds
& Tmplicit Explicit Condition iy stable «
Unconditionally stable - se= OX; KL) =u
I CR+EM=O Qo y n-ne
tL = -0K pe
= ‘Costes palatal
D AE Ot
a)
. X(At) — Xlo) = OX (v)AE
Tipe X WDE) -XUAW) = —AX(AD KE
=
x = %(4-04b) y \
X— 0 5 —Le(s-antyed ,
\4-ant] 2d for aro
= > with veelows —
k= AK Stable=> Sfichons
Se nt Ore al
X= Pr FAael xy sea
= Dies VID ake eigan
Pi 46 vetteu ond
Aster ee
Vite VE hin ip
yet= pvke * Lx—Aat)
sf Vay
PHRF F ATT ARAARARBRRARANRA, “Se bbbhbbObEaudbsah ee
qe
ae
een
eee jr
on
Ay Aap ly are dgunvalaus aj THABt
qr MY
ea
yt = Anya
BEAN, Tal, 1s
~<
[cS A aA VA
ae KeLa,--7N
Pa) as Fo
we
X= ax a= K+ip => SCALAR.
xt) = cet
5 © [emp +ising ] ext
ee a
att
*(t) —s 0
only when lw
oo
Rela) = Xen
CO a
ye Re
eas > VECTOR
Xloy=e
x
X = Wvix t 400 \(y,
Y alice Alia Gh
Vtee Dv : ;
a i 5 :
hea ‘bn eee Cdr,
TR erermAnrRmeanrmaenamewmemew we wt Uv, oJ = a4 (A)
ies AeYe, Ke 4,2, on
le Any ge] |
ay He = And
yt) = ete . ReUeo-
yw = i
VB)
“eine
BH) = Veil ycry
ek Let ver
Ue) = ety to)
Ru) = ety oy
K Uy) = 2 x10) He o te
ye = We a Ap at
We = [as avast He
Jitzdpoel oa
—A cAtdgatey
ake ce OF
~K
SH dy the quutint
ae
[Ale lAr) == 41nd
zs EIT
06 at < 2, D \ONDITONAL STABILITY
7) ao Be ys ee ee oe
Lumplicit Scheme
P a > bdo
Be ——>_ Linen Sys om
xX = Jaxt
bt
xt (4-abt) =
| ala Un conditional
4-aat = Stable . : =P Ay FAS + 4,87 + Ag + MyS4 = 0 —==2D)
ay dx! + 04% 4 a, 0% + dx 4 a@x=o
ele adi ade
x= est
Aer hye Be
2k ,
soe nn)
Se Ae
Ry = 2 Re 5
y= ~Ps24 — G27, a2, -00
eet al
q
ore 4
* =a omone a
6 oD O4 Rs
% te ty ag 1
ay Oy ay By
ee oa
deh
=> Zece Aubshtu
[sI-Al¢ =o
Ag = SE
Aye Ax ee au clgen val ues
Ao sdue “yy 0 Dynamics of Particles —> 1p >> |
@ Springs ey dampers
MATLAB Exavuples
Explicit | Tmplicit Culex Scheme
ea C with dewaken)
Companion vmrettis wmatvix oy give polynonaial
®®BOooe
as Problem etter te find Eigen aluts
Wumevicale fo Samumetvicl
and posits on
4 RUNGE-KUTTA ExPLciT METHOD
L
SEO) Seah vocal polynomial Approximation 3
ON = 4cxt) + An Get) +41 9% may,
mae oN zi on ne
Se Leh
= xh
4 (+h) = goo ehh aL Pees
Sabha oct Nhe “axe
qe R) = doxt) - 2g 3 35h +1 37402,
Ox eu
yt Ox Me eg. a ar
Z| 4a. Cth) 4 oe i) 25
| Ok:
eich Se
xX
I toctth) -ateé)
4] = ‘— stl (Cio.
z\5 Evyor Is (ess com payed to ¥
See flere)
iat
i ;
2. He)
7
ak rae ESL
& itl me
oth) OF ordexh)
Euler explicit echeme
ERROR
time St
Adaptive Integrators : dhanges Ane hime Step
ee | e
e
=> Fixed time steps —— Expliet Culey 1
L— Expliak RKy
1
Lywpliicit = oo for Lin day Equations 1
yen
Implicit Euler t '
% =Sinx+ Sinat
: . L
eta At nk + Sinaktat +
1
Explicit + poy Sinot +Sin at” 1
H Sol a Tmplicit 1
lv waplich
: - 4
peat Fea = fegn4 Hoyo 40) y
fy =o ‘ ,
ye feqd+ ROdby 4) 1
. yy
(4)
tgf \ 4) oS a {
Pay fy). |
Nia. oe
i ee a |
LS — —"
NEW TON
RAPHSON
See NED METHOD
eS yoot a4 coeeene
> eee
q
5 to) yLod
x 5
| Ko) bod
(x 12> v
Gun yo)
(104, 4)
=> cag Sosies in Ovoriables
oe
— > $rkiBidyy Gin zlosne = Sin 4, Gs ¥
F sx7 Goo (44)
Jacobian Matxix
~ Sify Sin (x91)
=> w= %- TE) 2) t
x
Ou,
st
c~ FOO fe) } i: on 7
Ms db
dm ax
=>
ee |X, He xn]!
[ fo, titoty ==. furtay |"
FO = PE) + HOI 4
fort) = POO + TOI acti ade. -
C
oO
Nil Om) for)
Gas B+ using =0 z i
| ample roy) ee iG a
a Ll, x -laeel Bos
® +Sing =0
S(0)=0 plod=4
eM=%y_ ‘
G0 § (01,20), )
Qhene axe waul li ple Solutions becuse its a
mn \ineay prrclen.
———————EE ee
ce
=
Ee
t
&
=
:
= f+. (48)- ats,
os oh pes es
"
|
=
=
=
> Exawple Again =
a 6+ psine =o
9(0) =0
O(2) = 0(2)&) “Wy =O
es
6(2/%)
dio-« | 64 gsinoo| >”
Krdx >| o1=0 6H) 9( 744)
function, ore e- [8127@)-W)
5 4p sine an ri
pCa waa
e(D=M 0(2 sp +dp) -0(8)
a
More inteve aa coe
el)=0 5 ON=%_
6 (0) = 6(1)=0
= a da deere anmriagurtiantaasaeat-msamimea|e”a sn «= w= 1 ee Si Se Se ee
yb) =e
WD=% toyeyiled-o} le) A= filWi A, 62)
aia
4, ©) =r cal a = foltirto/ Pr/Pe)
poe Po HW) =f 4 2, By Pa)
pete fu lor Ae
“Ot — filaitax Maiti 22) Zs a 4 )
x Fo ce
i a
% A lial Rell teeny orgie
2 Cal | ce Bee BE
s oleae t a
Pe pb a < 3
: i ft
EVER IMpuciIT SCHEME ‘
. y= Filyra,t) :
Bore fla, n/t) f mM (Ab) = Yo) —
4t fil qb),
Ut)
Sol at) — Gon Pig
a Fao (oe, matee), at)
wm
ere uy, ; Ma WH) = yy
Yr (0) ~ at Fly, yp ae =o
Yo- glo) —at Fala, Yordt) =0
Sih = Flayitys
dex (ogy)
dt ( q
—
ea naeiaiatiea&txuaiaadtieaoet aaa ns. sa ft eso Problem fs
8 +KSinO = ASinwt
Plo=a Oloy=b
my, = —KSinx, + ASME
Bee | 34h.
ma b)=9 MW )=b
HH wmWLoty— mo) _ x, (at)
ot
x (At) = %°) _ —ysin[ 4 (0d) ] + ASinfob)
bt
= xyCsb)= 3 x2(St)=
Dy = a> lo) - B24 =0 Solve
A
pa 1-H”) + [ESN Asimjast) Jah =o
pe
Nawien Raplhror e
e
ec
&
&
&
t
&
®
r
t |
4 PARTICLE PYNAMICS WITH CONSTRAINTS
=U, cones Feeae
Las aha yfa zk = i.
y
uP
ae
. K R
> tigid link, S 6 Seta zy ee
t tL 2 em = xt 4
¢
Force (Tewsion)
co = ame
RG. pena (eo 4 6
les ea l |g] Va
ra
[Sml\Q) = (gl “raphe —O
way? —@)
unlnowns » % 4) I
wh pean eee wed
[sel GT Fahd ns
Fe) = As ly < Kea)
se sew SB 8S SB weeeaiwekewe eB ee 8 NN cate i. ee
x divechion —
st + fW)=o0
mes Xp g
if = £e) =0 eee ht
a)
Boy ©
ay L=o
ane+ Ryy=O ny we vid initial pokes
to Aol tre ODE
+ iets oer =D
mie yy OP
et HX -4
mL me
AE
Sle ye FE
we NA = egy
ane tho)
spent Py (ey 20) ce)
sertyr=l>
Mags sahisfa war yy=O
We need to Planar Atgid be. definahon — (mm
Read eg eq)
Fox it Location and orientation ale
y
ee wand 478
>
tn
y oe ey mtm, = my
Sy a) Xa = 4 yt >
7M mim
Rigid body > panhicle ‘4 = wmt yom
System mt,
T= ms24m +2
~~
abou
' (yp). sex se
a Ve He att yy
we gts wl
og
2
eae
Rg 2
ami) = Rit Ro
™) 4, = -Ro \ ni impr = ee)
Be ea ma
Tes Ate)
Gu cra :
2 “4 Sel {aw Variables : A, Yes 22) 42, MA
DoF of Hue Ayctem
Lay 4o5
Dor =2 (61, 02)
wy
Si a BOF) souk Constraints
: tonttrein,
Sy bo = 2
% ae
= Non plana
Foinay ot
ia ye t= eo
£2) SS ain with DOF ae
Non PRana
4 non planar
‘ 7 Point mares
O-
v
DOF =6b DOF=12 —6.4
ae 4
at ars Contrajnts
ies sith 2° (No 9f Lins) + my M2
yw)
Og Ro
ate
oo aM) 2 SiS ag
L \
My = 1s fm ee eee a
Trey? 4 je SYS WP
wy = te [ Ree | 2)\|
; 4) ‘/
Vea Sed Pos Le/
CONTRAINTS ——
Tyefs Y=? ete
tae = (%- ay PA CY ty yo? &
EQUATIONS —
MHS AMA 1 ety, & ma
4 ly
Mio wei A, — RUAN) 3 hn,
ba \~\ q
t Acey
SE Contact FORCES ARE ALWANS Nop mar 7H
THE CONSTRAINTS. ip ne .
reko “HALE Sign (%) =
: : : y . } Tpnehons
ee a.
(1) Penal thy appro,
CH) Coe cient oft
/ Ruhituhon
cli dagran
= | Pate a vee ( eae
% Si =14i}
$= 1401
= Ay, = [Ks yo
aw e + >0
F Ay}
rae 134 ah ee ay, - ky if y,<0
cee salts Pie 1 “ya>e
ae gn Co)
o
Approrimated
g
> Sgnoy =e = —
can hme)
mae Sign (a0)
by Tarqe value of w
G wsat vious ao!
Cannol use ‘waplict solvey Fquohons —
y—> 1m { iy Ale)
2 = gti a
a 4 ne ef
[ weer yy =?
O t “ x2,-42 )
ee x84 yy — — Cry) —O
mk eS yelp ea cuestitale
2 ¥= Za 3 dea ( t Os
(
We “a re Ne eas,
* BourmaNRIE STABILIZATION
@=0
Co)2 a4 e)-6 De erpe 4
70 po {
nH + yee — P+ H2) — Xe —Be nN
#
ee Mf wet
| ) O \ ei J
"| is) See 3A)
ae Constraint ~
CY +yoyiy Peo
sm = Eat) a x i onl
Temp =e Alt) Pom Ns a al ae?
HL
eet
2dy
SS (7) Q-4¥ See
2a) Hr 9) et ei °
e€=> Con 8) + Ue ql pe a ne
Le -) = tyry Gard Gp yg) 5
f Vv Ale 7 a os
Yo
ie E> (ets ane) ted Fe Up ple $0)
Teg) yey) (>) oy]
X =A y= We) nae =
j a |G gA)= eG) dng]
/ ~ % :
” i bh i
noobt an oF oe %
ped feet R4=-- —» aq+nwad+eyy +
ao
Wee
a Geo
Consraint eqnabion
Aq = Raa pgp
O— & [yim] 4 -Hg4 —B9cq)-b
a ° GX,
ie ae \ =a itt ye [Al
DE! i a ayy
f 5 o,
iV ) f o
iv 1 fe a T
y
55 fe me
, [Est] = -Kd— pap
cl
pee eM ~ RA RGD
L M yuan ee is &,
Noi number of paviicles
M= M) I3x3,
©
TpeRa
0 Mtn o-.
je
f= Uatyty
With const caints
Ma!= P+
Constraint
a te =O
Tn par
yy ea lonstvams : P
Wy lag
xan zn Jt
a fui {4n rele
(GH NE Ge Welt »
2 Fa 0, 4.% 14 BORER eae eee ee
ser Zep=? wrt time —
— 291 9
ea a he Be 2
on Btu Dyn Dew | we
Ogp 2
at ge Dae dye
oH Oa dy DYNDan
S
241 941 99) %,
3x, Ja, mae 28! ada} | a!
aa 841 3y Srey yy 4 Ya +
: z
3 bo
aoe. agp dap 3 iw
dan YN ated
1991 941 Dg, , %
P dae ap 24 a
ee es e
ad at dra 0)
dhe = 0,
divection we (9D pxsm Tani ae
the -[orees
oe TW) pxan aan st Fp ay len = 2
x
YW
2H
Gn
2n => VELWUTIES ARE TANGENTIAL TO
THE CONSTRAINTS
CONSTRAINT FORCES ARE PERPENDICULAR
THE CONSTRAINTS
To
as = ee at
V J
Guwves Me Sives THE
PIRECTIONS MAGNITUDE
M syean ore i. Cay] nee
<7 P= —— xx 49
=o ——xe | Add
Taq + Tq =0 é
alee =f q
4
Sena bubbeueeseeuebaeee'
Tq" = ~The — w (34) —B gly
T(t M) git = ~ Ty! - «(Tq J-P gl
M)e )
= ead
Peo
IMF + IMI = Ps gi aitay
| ie Tratat ]| =y- ra en)
Has ay
the information SINMEGLAU
Of the Conetraints mal =f+Th
ae
Constvaints —
aeeyP Ue
(G14) + YpHi- 5 =0
a fee 2h a 80 \
2( AH) fH) 264%) 24-4)
=> w= — Holononic combvaink debs °
Non Holo Wowie wnstvaints 3 gy pP-e
q
O (42/22)
q
tUiIppooVV.
Gur sinat)y Gi-reswh)? = uP
= jit = ofipieg 24a4 a0
(dati t 14 + aot t Hae BeBe
4
ae
(a: =.
) a
Se
ac
SP
cr
a
fl
ELE
| e|>
tl
4
I
Qjas ¢
eee tee
o<
ue
‘
i
ia) =o viet
ayer P
ee “4
2 | 3 stat
Sli + eLtew ay
agar 442.2
BLT BERR)
Uy * 280+ stat ae a Lp pardick marsis
6 Cow fronts
ott
abil}
7 oy [Rotational S+ ty
© Spin abibel
