20.500.12556/RUL-114090 On conservation of energy and kinematic compatibility in dynamics of nonlinear velocity-based three-dimensional beams In this paper, we present an original energypreserving numerical formulation for velocity-based geometrically exact three-dimensional beams. We employ the algebra of quaternions as a suitable tool to express the governing equations and relate rotations with their derivatives,while the finite-element discretization is based on interpolation of velocities in a fixed frame and angular velocities in a moving frame description. The proposed time discretization of governing equations directly relates the energy conservation constraint with the time-discrete kinematic compatibility equations. We show that a suitable choice of primary unknowns together with a convenient choice of the frame of reference for quantities and equations is beneficial for the conservation of energy and enables admissible approximations in a simple manner and without any additional effort. The result of this study is simple and efficient, yet accurate and robust numerical model. structural dynamics non-linear beams kinematic compatibility energy conservation rotational quaternions implicit time integration dinamika konstrukcij nelinearni nosilci kinematična kompatibilnost ohranjanje energije rotacijski kvaternioni implicitna časovna integracija true false true Angleški jezik Slovenski jezik Članek v reviji 2020-02-13 13:40:42 2020-02-13 13:48:46 2022-08-26 03:49:03 0000-00-00 00:00:00 2019 0 0 Str. 1379-1394 iss. 2 Vol. 95 jan. 2019 0000-00-00 Zaloznikova Objavljeno apc 0000-00-00 0000-00-00 0000-00-00 624.04:624.072.2(045) 0924-090X 10.1007/s11071-018-4634-y 8601953 14632709 RAZ_Zupan_Eva_2019.pdf RAZ_Zupan_Eva_2019.pdf 1 59893F48C76CDB4C2C677E37A64CAF42 ca4e3beb43f9109857dcb53aa4f4642d0ebaecd86d097273c93098d51ebb957d 2de0ce16-a1b8-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=126214 https://link.springer.com/article/10.1007/s11071-018-4634-y 0 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=126626 Fakulteta za gradbeništvo in geodezijo 0 0 0