Comparison of linearized vs. non-linearized multibody vehicle model for real-time simulation

作     者：Shiiba, Taichi Obana, Kotaro Machida, Naoya 

作者机构：Meiji Univ Tama Ku 1-1-1 Higashi Mita Kawasaki Kanagawa 2148571 Japan 

出 版 物：《INTERNATIONAL JOURNAL OF NON-LINEAR MECHANICS》 (国际非线性力学杂志)

年 卷 期：2013年第53卷

页      面：32-40页

核心收录：

学科分类：08[工学] 0801[工学-力学（可授工学、理学学位）] 

主　　题：Multibody systems Vehicle dynamics Real-time analysis Hardware-in-the-loop simulation Driving simulator 

摘      要：The performance of a real-time multibody dynamics simulation using linearized constraint equations is discussed. It is known that a small step size is required to simulate a system with very stiff elements such as rubber bushes or a system with high frequency phenomena. Calculation time can be reduced by linearizing constraint equations, and high-speed multibody dynamic analysis with a smaller step size is realized. It is important to acknowledge the degree of accuracy lost when linearized constraint equations are used. We compare linearized and non-linearized simulation models using a model of an actual vehicle and ISO-8608 road profile classifications. Calculation time is evaluated in a real-time analysis environment, and the accuracy of the simulation result is examined. (C) 2013 Elsevier Ltd. All rights reserved.