Hardware-in-the-loop (HIL) simulation in the development and test process of vehicle dynamics controllers requires a real-time tractor-trailer simulation model. The hitch coupling must be numerically stable to ensure real-time simulation for various driving maneuvers, particularly at the vehicle's handling limits. This paper presents a robust implementation of tractor-trailer coupling. The equation of motion is formed using a novel formulation which is a combination of Jourdain's Principle and the Articulated Body Algorithm. The paper shows that a robust model for a real-time tractor-trailer simulation can be achieved with the proposed method. Moreover, the approach presented is suitable for modular modeling, is successfully implemented and can also be used as a basis for flexible system definition with an adjustable number of trailer axles.
Modular Multibody Approach for Real-Time Simulation of Vehicle-Trailer Combinations
Sae Technical Papers
SAE 2010 World Congress & Exhibition ; 2010
2010-04-12
Aufsatz (Konferenz)
Englisch
Simulation of vehicle-trailer combinations by real-time capable DAE solvers
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SAE Technical Papers | 2006
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British Library Conference Proceedings | 2006
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