【摘要】 对约束多体系统动力学的正则方程建立了最优化问题模型，采用辛差分格式，提出相应的最优化问题的约束变尺度法。该方法有效地提高了计算稳定性，算例说明了方法的有效性。更多还原

【Abstract】 A constrained variable metric method for solving canonical equations in constrained multibody systems dynamics is presented. The framwork of which is based on rewriting the equations as the optimization problem and using symplectic integral. The algorithm keep calculation stable for time simulation. Numerical examples show that algorithm is numerically efficient.更多还原