2023/12/25 by Adwait Verulkar, Verulkar, Adwait, Corina Sandu +5
Engineering · #Computational Engineering #Dynamical Systems (math.DS) #Dynamics and Control of Mechanical Systems #FOS: Computer and information sciences #FOS: Electrical engineering #FOS: Mathematics #Finance #Numerical Analysis (math.NA) #Optimization and Control (math.OC) #Soil Mechanics and Vehicle Dynamics #Systems and Control (eess.SY) #Vehicle Dynamics and Control Systems #and Science (cs.CE) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2312.15771
openalex publication_date 2023/12/25 · openalex created_date 2023/12/29 · openalex updated_date 2026/07/28
Real-world multibody systems are often subject to phenomena like friction, joint clearances, and external events. These phenomena can significantly impact the optimal design of the system and its controller. This work addresses the gradient-based optimization methodology for multibody dynamic systems with joint friction using a direct sensitivity approach for gradient computation. After a thorough review of various friction models developed over the years, the Brown McPhee model has been found to be the most suitable for the study due to its accuracy for dynamic simulation and its compatibility with sensitivity analysis. The methodology supports co-design of the system and its controller, which is especially relevant for applications like robotics and servo-mechanical systems where the actuation and the design are highly dependent on each other. Numerical results are obtained using a new implementation of the MBSVT (Multi-Body Systems at Virginia Tech) software package; MBSVT 2.0 is reprogrammed in Julia for ease of implementation while maintaining high computational efficiency. Three case studies are provided to demonstrate the attractive properties of simultaneous optimal design and control approach for certain applications.