This paper presents the application of a multibody formulation program to generating equations of motion for commercial vehicles. The formulation procedure adopts the separated-form virtual work principle. Equations are expanded using generalized coordinate partitioning through a Jacobian matrix expansion. The inertia force vector is separated into nonlinear, linear and time-dependent terms, and the generalized force vector is derived from virtual energies. Friction forces are included in the formulation. Nonlinear and linearized models are provided in a symbolic FORTRAN form allowing the control design be implemented with second-order or first-order equations. A fourth-fifth order Runge-Kutta-Fehlberg's algorithm with self-adjustable step sizes is utilized to numerically integrate the reduced systems. An example, a six-axle tractor-semitrailer model is demonstrated.


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    Title :

    A Multibody Dynamics Program for Truck Simulation


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    International Truck & Bus Meeting & Exposition ; 1994



    Publication date :

    1994-11-01




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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