Energy consistent time-integration of hybrid multibody systems

In the present contribution we address the design of energy-consistent time stepping schemes for hybrid multibody systems, which consist of rigid and flexible parts. First focusing on rigid body dynamics, we will present a specific rotationless formulation to describe rigid body rotations. This kinematics alleviates the design of energy-consistent integration schemes which facilitate a stable numerical integration of the corresponding set of differential algebraic equations. Furthermore we will mainly focus on vital modeling features concerning rigid bodies. In this connection we present the coordinate augmentation technique, the design of explicit null space matrices for closed loop systems, the incorporation of control constraints, the modeling of dissipation and its consistent time integration, the incorporation of kinematic constraints as well as the coupling of flexible and rigid structures. The performance of the final hybrid scheme will be demonstrated with an example incorporating all modeling features listed above.