An Adaptation of the Newmark Scheme for the Integrated Simulation of Mechatronic Systems

A methodology is developed to simulate flexible multibody systems subject to the action of a digital control system. The mechanical model is built in the formalism of flexible multibody dynamics using the Finite Element Method. At the begining of each sampling period, the model of the control system is used to compute the control forces and torques applied to the mechanism.
A second-order system with a direct velocity feedback controller is considered to study the performances of the method. A modification of the classical Newmark algorithm yields outstanding improvements in the results quality.