861 |
|
\varphi _{b_m h}^2 \circ \varphi _{a_m h}^1 \circ \varphi _{b_{m - |
862 |
|
1} h}^2 \circ \ldots \circ \varphi _{a_1 h}^1 . |
863 |
|
\end{equation} |
864 |
< |
Careful choice of coefficient $a_1 \ldot b_m$ will lead to higher |
864 |
> |
Careful choice of coefficient $a_1 \ldots b_m$ will lead to higher |
865 |
|
order method. Yoshida proposed an elegant way to compose higher |
866 |
|
order methods based on symmetric splitting\cite{Yoshida1990}. Given |
867 |
|
a symmetric second order base method $ \varphi _h^{(2)} $, a |
1256 |
|
Using Equation (\ref{introEquation:motionHamiltonianCoordinate}, |
1257 |
|
\ref{introEquation:motionHamiltonianMomentum}), one can write down |
1258 |
|
the equations of motion, |
1259 |
< |
\[ |
1260 |
< |
\begin{array}{c} |
1261 |
< |
\frac{{dq}}{{dt}} = \frac{p}{m} \label{introEquation:RBMotionPosition}\\ |
1262 |
< |
\frac{{dp}}{{dt}} = - \nabla _q V(q,Q) \label{introEquation:RBMotionMomentum}\\ |
1263 |
< |
\frac{{dQ}}{{dt}} = PJ^{ - 1} \label{introEquation:RBMotionRotation}\\ |
1264 |
< |
\frac{{dP}}{{dt}} = - \nabla _Q V(q,Q) - 2Q\Lambda . \label{introEquation:RBMotionP}\\ |
1265 |
< |
\end{array} |
1266 |
< |
\] |
1259 |
> |
|
1260 |
> |
\begin{eqnarray} |
1261 |
> |
\frac{{dq}}{{dt}} & = & \frac{p}{m} \label{introEquation:RBMotionPosition}\\ |
1262 |
> |
\frac{{dp}}{{dt}} & = & - \nabla _q V(q,Q) \label{introEquation:RBMotionMomentum}\\ |
1263 |
> |
\frac{{dQ}}{{dt}} & = & PJ^{ - 1} \label{introEquation:RBMotionRotation}\\ |
1264 |
> |
\frac{{dP}}{{dt}} & = & - \nabla _Q V(q,Q) - 2Q\Lambda . \label{introEquation:RBMotionP} |
1265 |
> |
\end{eqnarray} |
1266 |
|
|
1267 |
|
In general, there are two ways to satisfy the holonomic constraints. |
1268 |
|
We can use constraint force provided by lagrange multiplier on the |
1656 |
|
\] |
1657 |
|
, we obtain |
1658 |
|
\begin{eqnarray*} |
1659 |
< |
m\ddot x & = & - \frac{{\partial W(x)}}{{\partial x}} - |
1659 |
> |
m\ddot x & = & - \frac{{\partial W(x)}}{{\partial x}} - |
1660 |
|
\sum\limits_{\alpha = 1}^N {\left\{ {\left( { - \frac{{g_\alpha ^2 |
1661 |
|
}}{{m_\alpha \omega _\alpha ^2 }}} \right)\int_0^t {\cos (\omega |
1662 |
< |
_\alpha t)\dot x(t - \tau )d\tau - \left[ {g_\alpha x_\alpha (0) |
1663 |
< |
- \frac{{g_\alpha }}{{m_\alpha \omega _\alpha }}} \right]\cos |
1664 |
< |
(\omega _\alpha t) - \frac{{g_\alpha \dot x_\alpha (0)}}{{\omega |
1665 |
< |
_\alpha }}\sin (\omega _\alpha t)} } \right\}} |
1666 |
< |
% |
1667 |
< |
& = & \mbox{} - \frac{{\partial W(x)}}{{\partial x}} - \int_0^t |
1662 |
> |
_\alpha t)\dot x(t - \tau )d\tau } } \right\}} \\ |
1663 |
> |
& & + \sum\limits_{\alpha = 1}^N {\left\{ {\left[ {g_\alpha |
1664 |
> |
x_\alpha (0) - \frac{{g_\alpha }}{{m_\alpha \omega _\alpha }}} |
1665 |
> |
\right]\cos (\omega _\alpha t) + \frac{{g_\alpha \dot x_\alpha |
1666 |
> |
(0)}}{{\omega _\alpha }}\sin (\omega _\alpha t)} \right\}} |
1667 |
> |
\end{eqnarray*} |
1668 |
> |
\begin{eqnarray*} |
1669 |
> |
m\ddot x & = & - \frac{{\partial W(x)}}{{\partial x}} - \int_0^t |
1670 |
|
{\sum\limits_{\alpha = 1}^N {\left( { - \frac{{g_\alpha ^2 |
1671 |
|
}}{{m_\alpha \omega _\alpha ^2 }}} \right)\cos (\omega _\alpha |
1672 |
< |
t)\dot x(t - \tau )d} \tau } + \sum\limits_{\alpha = 1}^N {\left\{ |
1673 |
< |
{\left[ {g_\alpha x_\alpha (0) - \frac{{g_\alpha }}{{m_\alpha |
1674 |
< |
\omega _\alpha }}} \right]\cos (\omega _\alpha t) + |
1675 |
< |
\frac{{g_\alpha \dot x_\alpha (0)}}{{\omega _\alpha }}\sin |
1676 |
< |
(\omega _\alpha t)} \right\}} |
1672 |
> |
t)\dot x(t - \tau )d} \tau } \\ |
1673 |
> |
& & + \sum\limits_{\alpha = 1}^N {\left\{ {\left[ {g_\alpha |
1674 |
> |
x_\alpha (0) - \frac{{g_\alpha }}{{m_\alpha \omega _\alpha }}} |
1675 |
> |
\right]\cos (\omega _\alpha t) + \frac{{g_\alpha \dot x_\alpha |
1676 |
> |
(0)}}{{\omega _\alpha }}\sin (\omega _\alpha t)} \right\}} |
1677 |
|
\end{eqnarray*} |
1677 |
– |
|
1678 |
|
Introducing a \emph{dynamic friction kernel} |
1679 |
|
\begin{equation} |
1680 |
|
\xi (t) = \sum\limits_{\alpha = 1}^N {\left( { - \frac{{g_\alpha ^2 |
2027 |
|
Using Equations \ref{introEquation:definitionCR} and |
2028 |
|
\ref{introEquation:resistanceTensorTransformation}, one can locate |
2029 |
|
the position of center of resistance, |
2030 |
– |
\[ |
2031 |
– |
\left( \begin{array}{l} |
2032 |
– |
x_{OR} \\ |
2033 |
– |
y_{OR} \\ |
2034 |
– |
z_{OR} \\ |
2035 |
– |
\end{array} \right) = \left( {\begin{array}{*{20}c} |
2036 |
– |
{(\Xi _O^{rr} )_{yy} + (\Xi _O^{rr} )_{zz} } & { - (\Xi _O^{rr} )_{xy} } & { - (\Xi _O^{rr} )_{xz} } \\ |
2037 |
– |
{ - (\Xi _O^{rr} )_{xy} } & {(\Xi _O^{rr} )_{zz} + (\Xi _O^{rr} )_{xx} } & { - (\Xi _O^{rr} )_{yz} } \\ |
2038 |
– |
{ - (\Xi _O^{rr} )_{xz} } & { - (\Xi _O^{rr} )_{yz} } & {(\Xi _O^{rr} )_{xx} + (\Xi _O^{rr} )_{yy} } \\ |
2039 |
– |
\end{array}} \right)^{ - 1} \left( \begin{array}{l} |
2040 |
– |
(\Xi _O^{tr} )_{yz} - (\Xi _O^{tr} )_{zy} \\ |
2041 |
– |
(\Xi _O^{tr} )_{zx} - (\Xi _O^{tr} )_{xz} \\ |
2042 |
– |
(\Xi _O^{tr} )_{xy} - (\Xi _O^{tr} )_{yx} \\ |
2043 |
– |
\end{array} \right). |
2044 |
– |
\] |
2045 |
– |
|
2046 |
– |
|
2030 |
|
\begin{eqnarray*} |
2031 |
|
\left( \begin{array}{l} |
2032 |
|
x_{OR} \\ |