Dual-rate integration of controlled multibody mechanical systems

A dual-rate integration methodology for high-speed dynamic simulation of controlled multibody mechanical systems is proposed. Using a graphical representation of such systems, a variational approach is adopted to formulate the systems equations in state-space form, in terms of mechanical-subsystem-independent generalized coordinates and control-subsystem state variables. Different integration algorithms and step sizes that account for the different time scales of each subsystem are used to improve efficiency and stability. A coupling between the subsystems is accounted for by extrapolation