In this paper, the performance of real-time multibody dynamics simulation using linearized constraint equations was investigated. An analysis method with relative coordinates and linearized constraint equations was proposed. Through linearization, the Jacobian matrix of the constraint equations became a constant matrix. As a result, the calculation time of the numerical integration could be reduced considerably. The proposed method is effective for the analysis of a system in which the relative motions between bodies are small. Vibration analysis of a mechanical system is an appropriate application of the proposed method. Vehicle dynamics simulations to evaluate the accuracy and the calculation speed of the proposed analysis method were carried out on a real-time analysis environment. It was shown that the difference in the vertical acceleration of the vehicle was negligible between linearized and non-linearized models, and the calculation speed with the proposed analysis method with linearized constraint equations was much faster. The calculation speed of vehicle dynamic analysis using the proposed linearized model was more than 20 times faster than the calculation speed using non-linear constraint equations. The proposed analysis method is an approximated solution; therefore, it is important to evaluate the degree of error. The proposed method increases the performance of real-time analysis of a multibody system and is applicable for systems that are not sensitive to this type of error.
Comparison of linearized vs. non-linearized multibody vehicle model for real-time simulation
Vergleich eines linearisierten gegenüber nichtlinearisierten Mehrkörper-Fahrzeugmodells für die Echtzeitsimulation
2013
9 Seiten, 20 Bilder, 5 Tabellen, 13 Quellen
Aufsatz (Konferenz)
Englisch
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