A Family of Conditionally Explicit Methods for Second-Order ODEs and DAEs: Application in Multibody Dynamics

Abstract

There are several common procedures used to numerically integrate second-order ordinary differential equations. The most common one is to reduce the equation’s order by duplicating the number of variables. This allows one to take advantage of the family of Runge–Kutta methods or the Adams family of multi-step methods. Another approach is the use of methods that have been developed to directly integrate an ordinary differential equation without increasing the number of variables. An important drawback when using Runge–Kutta methods is that when one tries to apply them to differential algebraic equations, they require a reduction in the index, leading to a need for stabilization methods to remove the drift. In this paper, a new family of methods for the direct integration of second-order ordinary differential equations is presented. These methods can be considered as a generalization of the central differences method. The methods are classified according to the number of derivatives they take into account (degree). They include some parameters that can be chosen to configure the equation’s behavior. Some sets of parameters were studied, and some examples belonging to structural dynamics and multibody dynamics are presented. An example of the application of the method to a differential algebraic equation is also included.