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The Generalized-α Scheme as a Linear Multistep Integrator: Towards a General Mechatronic Simulator

[+] Author Affiliations
Olivier Brüls

University of Liège, Liège, Belgium

Martin Arnold

Martin Luther University Halle-Wittenberg, Halle (Saale), Germany

Paper No. DETC2007-34941, pp. 61-71; 11 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME


This paper presents a consistent formulation of the generalized-α time integration scheme for mechanical and mechatronic systems. The algorithm can deal with a non-constant mass matrix, controller dynamics, and kinematic constraints. The theoretical background relies on the analogy with linear multistep formulae, which leads to elegant results related with consistency, order conditions for constant and variable step-size methods, as well as global convergence. The algorithm is applied for the simulation of a vehicle semi-active suspension.

Copyright © 2007 by ASME



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