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                <term xml:lang="en">Time-integration</term>
                <term xml:lang="en">Energy dissipation</term>
                <term xml:lang="en">Bipotential method</term>
                <term xml:lang="fr">intégration temporelle</term>
                <term xml:lang="fr">méthode du bipotentiel</term>
                <term xml:lang="fr">dissipation d’énergie</term>
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              <p>The bipotential method has been successfully applied for the modelling of frictional contact problems in static cases. This paper presents the application of this method for dynamic analysis of impact problems with friction. Instead of second order algorithms, a first order algorithm is applied for the numerical integration of the time-discretized equation of motion. The numerical results prove that the algorithm preserves quasi perfectly the principle of energy conservation without any regularization. In addition, it is possible to quantify the physical energy dissipation introduced by frictional effects between the solids in contact.</p>
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              <p>La méthode du bipotentiel a été employée avec succès pour modéliser des problèmes de contact avec frottement en statique. Cet article présente l'extension de cette méthode pour l'analyse dynamique des problèmes d'impact en présence de frottement. Un algorithme du premier ordre est utilisé pour l'intégration temporelle de l'équation discrétisée du mouvement. Les résultats numériques montrent que l'algorithme préserve quasi parfaitement le principe de conversation de l'énergie et cela sans utiliser aucune technique de régularisation. De plus, il est possible de quantifier la dissipation physique d'énergie sous l'effet du frottement entre les solides en contact.</p>
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