TY - JOUR

T1 - The Rotating Rigid Body Model Based on a Non-twisting Frame

AU - Gebhardt, Cristian Guillermo

AU - Romero, Ignacio

N1 - Open Access funding provided by Projekt DEAL.

PY - 2020/12/1

Y1 - 2020/12/1

N2 - This work proposes and investigates a new model of the rotating rigid body based on the non-twisting frame. Such a frame consists of three mutually orthogonal unit vectors whose rotation rate around one of the three axis remains zero at all times and, thus, is represented by a nonholonomic restriction. Then, the corresponding Lagrange–D’Alembert equations are formulated by employing two descriptions, the first one relying on rotations and a splitting approach, and the second one relying on constrained directors. For vanishing external moments, we prove that the new model possesses conservation laws, i.e., the kinetic energy and two nonholonomic momenta that substantially differ from the holonomic momenta preserved by the standard rigid body model. Additionally, we propose a new specialization of a class of energy–momentum integration schemes that exactly preserves the kinetic energy and the nonholonomic momenta replicating the continuous counterpart. Finally, we present numerical results that show the excellent conservation properties as well as the accuracy for the time-discretized governing equations.

AB - This work proposes and investigates a new model of the rotating rigid body based on the non-twisting frame. Such a frame consists of three mutually orthogonal unit vectors whose rotation rate around one of the three axis remains zero at all times and, thus, is represented by a nonholonomic restriction. Then, the corresponding Lagrange–D’Alembert equations are formulated by employing two descriptions, the first one relying on rotations and a splitting approach, and the second one relying on constrained directors. For vanishing external moments, we prove that the new model possesses conservation laws, i.e., the kinetic energy and two nonholonomic momenta that substantially differ from the holonomic momenta preserved by the standard rigid body model. Additionally, we propose a new specialization of a class of energy–momentum integration schemes that exactly preserves the kinetic energy and the nonholonomic momenta replicating the continuous counterpart. Finally, we present numerical results that show the excellent conservation properties as well as the accuracy for the time-discretized governing equations.

KW - Conservation laws

KW - Non-twisting frame

KW - Nonholonomic system

KW - Rotating rigid body model

KW - Structure preserving integration

UR - http://www.scopus.com/inward/record.url?scp=85089037786&partnerID=8YFLogxK

U2 - 10.48550/arXiv.1911.03666

DO - 10.48550/arXiv.1911.03666

M3 - Article

AN - SCOPUS:85089037786

VL - 30

SP - 3199

EP - 3233

JO - Journal of Nonlinear Science

JF - Journal of Nonlinear Science

SN - 0938-8974

IS - 6

ER -