A SYMPLECTIC ALGORITHM FOR DYNAMICS OF RIGID BODY

作     者：路英杰 任革学 

作者机构：Department of Engineering Mechanics Communicated 

出 版 物：《Applied Mathematics and Mechanics(English Edition)》 (应用数学和力学（英文版）)

年 卷 期：2006年第27卷第1期

页      面：51-57页

学科分类：08[工学] 080101[工学-一般力学与力学基础] 0801[工学-力学（可授工学、理学学位）] 

主　　题：rigid-body dynamics quaternion generalized momenta symplectic integration 

摘      要：For the dynamics of a rigid body with a fixed point based on the quaternion and the corresponding generalized momenta, a displacement-based symplectic integration scheme for differential-algebraic equations is proposed and applied to the Lagrange＇s equations based on dependent generalized momenta. Numerical experiments show that the algorithm possesses such characters as high precision and preserving system invariants. More importantly, the generalized momenta based Lagrange＇s equations show unique advantages over the traditional Lagrange＇s equations in symplectic integrations.