【摘要】 多体系统动力学微分／ 代数混合方程组又称为Ｅｕｌｅｒ＿Ｌａｇｒａｎｇｅ 方程·　其数值积分的困难之一是由违约引起的数值不稳定·　基于对约束方程左部的Ｔｙｌｏｒ 展开， 根据积分步长提出了一种能对约束误差自动修正的小扰动违约稳定方法·　该方法大大改善了传统违约修正法的数值性态，并具有简单、实用、高效的特点·　最后对该方法与传统增广方法及其违约修正方法进行了数值比较·更多还原

【Abstract】 A new automatic constraint violation stabilization method for numerical integration of Euler_Lagraneg equations of motion in dynamics of multibody systems is presented. The parameters α,β used in the traditional constraint violation stabilization method are determined according to the integration time step size and Tylor expansion method automatically. The direct integration method, the traditional constraint violation stabilization method and the method presented in this paper are compared finally.更多还原