Fast computation by simplifications of a class of hydro-mechanical systems

This paper presents a fast computation method of forward dynamics of a class of hydro-mechanical systems. First, an exact simplification of the conventional representation of the hydro-mechanical systems is presented based on Casimir functions. Second, a further simplification is given via an integration by parts which is a new structural property and a new representation of the hydro-mechanical systems is proposed. Third, the proposed representation and the conventional representation are compared with each other with respect to computational cost and the validity of the proposed representation is confirmed by numerical experiment.