SIMULATION OF MODULAR DYNAMIC-SYSTEMS

A modular structure for dynamic systems is obtained by functional deco mposition. This leads to an interconnected set of dynamic modules. A c lassification for modular dynamic systems is introduced, including con strained multibody systems with explicit joints, and several state spa ce forms. The resulting mechanical differential-algebraic equations ar e treated by a poststabilizing projection method. For most efficient s imulation, a multi-rate-method is incorporated. The problem of algebra ic loops is discussed and a method for its solution is proposed. The s imulation program NEWMOS supplies all simulation strategies introduced . Several examples from different areas of dynamics show the power of the approach proposed. (C) 1998 Published by IMACS/Elsevier Science B. V.