The real-time simulation of vehicle trains requires an accurate and numerically feasible representation of the vehicle-trailer coupling. Although the equations of motion for the chassis instances can be reduced to systems of ordinary differential equations, additional constraints on the relative motion of vehicle and trailer are introduced when considering the hitch. A strategy is presented for the simulation of vehicle-trailer combinations, where the algebraic constraints of the coupling are treated explicitly. Although this approach allows exact modeling of the respective joint geometry and realistic calculation of the coupling forces, a suitable numerical algorithm is required in order to solve the resulting differential-algebraic system of index 3 in real-time. The implementation in a commercial vehicle dynamics program is discussed and real-time simulation results are shown, which prove its feasibility for different coupling joints and demanding driving maneuvers.


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    Title :

    Real-time capable vehicle-trailer coupling by algorithms for differential-algebraic equations


    Additional title:

    Simulation einer echtzeitfähigen Fahrzeuganhängerkopplung mittels Algorithmen mit differential-algebraischen Gleichungen


    Contributors:

    Published in:

    Vehicle System Dynamics ; 45 , 9 ; 819-834


    Publication date :

    2007


    Size :

    16 Seiten, 11 Bilder, 30 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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