A symplectic algorithm for dynamics of rigid body. (English) Zbl 1144.70004
Summary: For the dynamics of rigid body with a fixed point based on the quaternion and on the corresponding generalized momenta, we develop a displacement-based symplectic integration scheme for differential-algebraic equations. The scheme is applied to Lagrange’s equations based on dependent generalized momenta. Numerical experiments show that the algorithm possesses such characteristics as high accuracy and preserving system invariants. More importantly, based on generalized momenta the Lagrange’s equations show advantages over the traditional Lagrange’s equations in symplectic integrations based on generalized momenta.
MSC:
| 70E17 | Motion of a rigid body with a fixed point |
| 70-08 | Computational methods for problems pertaining to mechanics of particles and systems |
| 65P10 | Numerical methods for Hamiltonian systems including symplectic integrators |
Keywords:
generalized momentaReferences:
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