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ARTICLE
Comparison of long time simulation of Hamilton and Lagrange geometry dynamical models of a multibody system
1
Beijing Information Science and Technology University, Mechanical Electrical Engineering School, China
2
Beijing Information Science and Technology University, School of Applied Science, China
Submission date: 2022-04-12
Final revision date: 2022-07-15
Acceptance date: 2022-09-19
Online publication date: 2022-11-20
Publication date: 2022-11-25
Corresponding author
Long Bai
Mechanical Electrical Engineering School, Beijing Information Science and Technology University, China
Mechanical Electrical Engineering School, Beijing Information Science and Technology University, China
Journal of Theoretical and Applied Mechanics 2022;60(4):687-704
KEYWORDS
TOPICS
ABSTRACT
The geometry dynamical modeling method for a double pendulum is explored with the Lie
group and a double spherical space method. Four types of Lagrange equations are built for
relative and absolute motion with the above two geometry methods, which are then used
to explore the influence of different expressions for motion on the dynamic modeling and
computations. With Legendre transformation, the Lagrange equations are transformed to
Hamilton ones which are dynamical models greatly reduced. The models are solved by the
same numerical method. The simulation results show that they are better for the relative
group than for the absolute one in long time simulation with the same numerical computations.
The Lie group based result is better than the double spherical space one.
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| eISSN: | 2543-6309 |
| ISSN: | 1429-2955 |
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