We have analyzed the possibilities and features of simulating a mbs benchmark model under real-time conditions with respect to three main criteria: modelling approach, onboard platform and integration method. The considered truck model has been implemented by hand as C-code, in the commercial mbs tools SIMPACK and SimMechanics. The handcoded variant is naturally most flexible, among others concerning license issues. It is also the most elaborate one, but realistic only for systems of moderate size and complexity. Large and complex mbs models can only be handled effectively with an appropriate software package, which offers a navigation, element libraries, etc. A drawback of that approach in turn is, that one needs special (platform dependent) licenses to export and to solve the mbs. Concerning the used simulation-platforms, the microcontroller is the cheapest and most mobile solution, but it requires a lot of work to implement and simulate the mbs on it and the specific configurations depend strongly on the used board, the programming language etc. In fact, only the C-code version of the mbs could be exported and simulated in a reasonable way on the microcontroller. Additionally, the microcontroller provides the lowest performance properties. Due to these limitations, the microcontroller is a suitable and cheap platform only for small systems, which can be implement by hand. If the system is of moderate or large size and complexity (including the nonlinear truck model) and has to be modelled in a mbs software tool, rapid prototyping boards are more favorable, they provide a much higher performance. The usage of the integration scheme is a question of the required results. Of course, it is relatively easy to combine handwritten mbs systems with handwritten solver routines. We have seen, that besides the often used linearly-implicit Euler method higher order methods can be applied successfully. In the DAE case, which is very important regarding 'real-life' mbs models, one has to add a stabilization technique. The GGL-method brings up the best result, but can be costly for larger systems, since additional equations have to be solved. This is avoided by the Baumgarte-approach, which leads to simulation results, which are still very good. As a last important aspect, we emphasize the demonstrated possibility to use own, specific, problem-oriented solver routines in combination with commercial mbs tools and rapid prototyping boards. To summarize, this paper shows, that with each configuration at most one real-time solution is possible. To choose a specific configuration, one has to strike the balance between model complexity and size, simulation requirements and available hardware.


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    Title :

    Real-time simulation of multibody-systems for on-board applications


    Contributors:


    Publication date :

    2010


    Size :

    10 Seiten, 6 Bilder, 4 Tabellen, 14 Quellen



    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English





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