The goal of this research is to achieve close to real-time dynamics performance for allowing the closed-loop testing of unmanned ground vehicles (UGV) for urban as well as off-road scenarios. The overall vehicle dynamics performance is governed by the multibody dynamics model for the vehicle, the wheel/terrain interaction dynamics and the onboard control system. The topic of this paper is the development of computationally efficient and accurate dynamics model for ground vehicles with complex suspension dynamics. In this paper, we describe the multibody dynamics modeling approach for our reference 4-wheeled vehicle, which has a double wishbone suspension and associated spring-damper unit at each wheel. Each of these wheel suspensions contains a number of articulated bodies with multiple kinematic closed loops. Despite the large number of internal degrees of freedom, due to the constraints, each suspension has only a single effective degree of freedom.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Constraint Embedding Approach for Complex Vehicle Suspension Dynamics


    Contributors:
    Jain A. (author) / Kuo C. (author) / Jayakumar P. (author) / Cameron J. (author)

    Publication date :

    2015


    Size :

    3 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




    Vehicle health monitoring using stochastic constraint suspension.
    VHM using stochastic constraint suspension

    Rossi, Christopher, S.M. Massachusetts Institute of Technology | DSpace@MIT | 2012

    Free access

    Vehicle Health Monitoring Using Stochastic Constraint Suspension

    Rossi, Christopher / Breger, Louis / Benson, David et al. | AIAA | 2012


    Vehicle Health Monitoring Using Stochastic Constraint Suspension

    Rossi, C. / Benson, D. / Breger, L. et al. | British Library Conference Proceedings | 2012


    VEHICLE HAVING THREE OR MORE TILTING WHEELS WITH REACTIVE CONSTRAINT SUSPENSION

    GHEZZI GIUSEPPE | European Patent Office | 2020

    Free access

    VEHICLE HAVING THREE OR MORE TILTING WHEELS WITH REACTIVE CONSTRAINT SUSPENSION

    GHEZZI GIUSEPPE | European Patent Office | 2018

    Free access