Abstract
This paper describes a computationally efficient method for simulating dynamics of the coupled multibody-fluid system that utilizes symplectic and Lie-Poisson reductions in order to formulate fully coupled dynamical model of the multi-physical system by using solid variables only. The multibody system (MBS) dynamics is formulated in Lie group setting and integrated with the pertinent Lie group integration method that operates in MBS state space. The effects of fluid flow on MBS dynamics are accounted for by the added masses to the submerged bodies, calculated by boundary element method. The case study of coupled dynamics of three rigid ellipsoid (blunt) bodies in fluid flow without circulation is presented. In order to take into account additional viscous effects and include fluid vorticity and circulation in the system dynamics (when motion of the kinematical chain with sharp edges is considered), vortex shedding mechanism is incorporated in the overall model by numerically enforcing Kutta condition.
Published Version
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