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A time-reversible variable-stepsize integrator for constrained dynamics
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DOI：10.1137/S1064827596314194.png)
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Abstract
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This article considers the design and implementation of variable-timestep methods for simulating holonomically constrained mechanical systems. Symplectic variable stepsizes are briefly discussed, and we consider time-reparameterization techniques employing a time-reversible (symmetric) integration method to solve the equations of motion. We give several numerical examples, including a simulation of an elastic (inextensible, unshearable) rod undergoing large deformations and collisions with the sides of a bounding box. Numerical experiments indicate that adaptive stepping can significantly smooth the numerical energy and improve the overall efficiency of the simulation.
Keywords:
symplectic methods
time-reversible methods
adaptive timestepping
variable-stepsize methods
nonlinear elastic dynamics
rod models
holonomically constrained Hamiltonian systems
Verlet
leapfrog
SHAKE discretization
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2.6
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5.1K
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