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• Newmark time integration
1
𝑥𝑛+1 = 𝑥𝑛 + Δ𝑡𝑣𝑛 + Δ𝑡 2 − 𝛽 𝛼𝑛 + 𝛽𝛼𝑛+1
2
𝑣𝑛+1 = 𝑏𝑛 + Δ𝑡 1 − 𝛾 𝛼𝑛 + 𝛾𝛼𝑛+1
Λ𝑛+1 = Λ𝑛 exp 𝑆 𝜃
1
𝜃 = Δ𝑡𝑊𝑛 + Δ𝑡 2 − 𝛽 𝐴𝑛 + 𝛽𝐴𝑛+1
2
𝑊𝑛 = 𝑊𝑛 + Δ𝑡 1 − 𝛾 𝐴𝑛 + 𝛾𝐴𝑛+1
𝑣𝑛 = 𝑊𝑛 𝐽 Λ 𝑛
Rigid body motion VIII
• In principle, computes increments in position Δ𝑥 ≔ 𝑥𝑛+1 − 𝑥𝑛 and rotation 𝜃 by
solving the nonlinear equations until equilibrium. Default values for 𝛽 and 𝛾
1
𝛽=
4
1
𝛾=
2