The Hamel representation: A diagonalized Poincare form Conference Paper uri icon

abstract

  • The Poincar equations, also known as Lagrange's equations in quasi coordinates, are revisited with special attention focused on a diagonal form. The diagonal form stems from a special choice of quasi velocities that were first introduced by Georg Hamel nearly a century ago. The form has been largely ignored because the quasi velocities create so-called Hamel coefficients that appear in the governing equations and are based on the partial derivative of the mass matrix factorization. Consequently, closed-form expressions for the Hamel coefficients can be difficult to obtain and relying on finite-dimensional, numerical methods are unattractive. In this paper we use a newly developed operator overloading technique to automatically generate the Hamel coefficients through exact partial differentiation together with numerical evaluation. The equations can then be numerically integrated for system simulation. These special Poincar equations are called the Hamel Form and their usefulness in dynamic modeling and control is investigated. Copyright 2005 by ASME.

published proceedings

  • Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Vol 6, Pts A-C

author list (cited authors)

  • Sovinsky, M. C., Hurtado, J. E., Griffith, D. T., & Turner, J. D.

publication date

  • January 2005