Temporal finite element formulation of optimal control in mechanisms

Författare: Eriksson,  , Nordmark, A.
Dokumenttyp: Artikel
Tillstånd: Publicerad
Tidskrift: Comput Methods Appl Mech Engrg
Volym: 199   1783-1792
År: 2010


A temporal finite element discretization of a boundary value problem has several advantages compared to a time-integrating evolution form for optimized target movement simulations. The paper gives some basic aspects on how such a finite element form can be stated, with both displacements and controls discretized and seen as unknowns. Aspects on the resulting formulations are discussed. Important issues are the order, continuity and fineness of the discretizations. When the formulation is seen in an optimization context, minimizing the effort for a prescribed movement, the discretization affects the results obtained in several manners, where some aspects of results are artifacts. The paper discusses these effects from basic principles, but also verifies them in numerical simulations.