Title: A system-level modal description of flexible multibody dynamics
Authors: Heirman, Gert ×
Brüls, Olivier
Desmet, Wim #
Issue Date: 28-May-2009
Host Document: Proceedings of NCTAM2009 National Congress on Theoretical and Applied Mechanics
Conference: National Congress on Theoretical and Applied Mechanics edition:8 location:Brussel date:28-29 May 2009
Abstract: Current modelling techniques only allow realtime
simulation of strongly simplified models of flexible
mechanisms. Both the number of degrees of freedom needed
to accurately describe flexibility as the DAE-character of the
system equations limit the computational efficiency. Bodylevel
model reduction such modal synthesis is typically used
to decrease the computational load of a simulation, but
this cannot fully meet the demands for real-time simulation
of flexible mechanisms. In this research, Global Modal
Parametrization, a model reduction technique initially proposed
for controller design for flexible mechanisms, is further
developed to speed up simulation of multibody systems.
The reduction is achieved by a system-level modal description,
as opposed to the classic body-level modal description.
As the dynamics is configuration-dependent, the systemlevel
modal description is chosen configuration-dependent in
such a way that the system dynamics is optimally described
with a minimal number of degrees of freedom. Another novelty
is GMP-based simulation. In a numerical experiment,
simulation results for the original model equations are compared
with simulation results for the model equations obtained
after model reduction, showing a good match. The
approximation errors resulting from the model reduction
techniques are investigated by comparing results for different
mode sets. The mode set affects the approximation error
similarly as it does in linear modal synthesis.
Publication status: published
KU Leuven publication type: IC
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
× corresponding author
# (joint) last author

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