A direct violation correction method in numerical simulation of constrained multibody systems

A new direct violation correction method for constrained multibody systems is presented. It can correct the value of state variables of the systems di rectly so as to satisfy the constraint equations of motion. During the inte gration of the dynamic equations of constrained multibody systems, this met hod can efficiently control the violations of constraint equations within a ny given accuracy at each time-step. Compared to conventional indirect meth ods, especially Baumgarte's Constraint Violation Stabilization Method, this method has clear physical meaning, less calculation and obvious correction effect. Besides, this method has minor effect on the form of the dynamic e quations of systems, so it is stable and highly accurate. A numerical examp le is provided to demonstrate the effectiveness of this method.