Real-Time Multibody Dynamics and Applications

Cuadrado, Javier; Dopico, Domingo Calvo; Naya, Miguel Ángel; González, Manuel

doi:10.1007/978-3-211-89548-1_6

Cited by 18 publications

(43 citation statements)

References 18 publications

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“…Since the coordinates selected have direct effects on the complexity of the system definition, related to the performance of the multibody model, the methods developed for defining the coordinates can be grouped into global and topological methods [11], [27].…”

Section: A Coordinates Selectionmentioning

confidence: 99%

“…Since the detailed explanation of the employed multibody formulation is out of the scope of this work, it is briefly described hereafter. The reader is referred to [27], [28] for further details.…”

Section: B Multibody Formulationmentioning

confidence: 99%

“…whereM andQ are the mass matrix and force vector of the system for body coordinates, whose expressions can be found in [27]. This equation can be reduced to,…”

Section: B Multibody Formulationmentioning

confidence: 99%

“…Thus, it is possible to use different integrators without excessive additional effort. The reader is referred to [27] for the complete set of equations of the structural integrators. In this work, the well-known implicit single-step trapezoidal rule with fixed time step [27] has been adopted.…”

Section: B Multibody Formulationmentioning

confidence: 99%

“…The reader is referred to [27] for the complete set of equations of the structural integrators. In this work, the well-known implicit single-step trapezoidal rule with fixed time step [27] has been adopted. The corresponding difference equations in velocities and accelerations are,ż…”

Section: B Multibody Formulationmentioning

confidence: 99%

See 4 more Smart Citations

Validation of a Real-Time Capable Multibody Vehicle Dynamics Formulation for Automotive Testing Frameworks Based on Simulation

2020

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The growing functionalities implemented on vehicles have increased the importance of simulation in the design process. This complexity is mainly driven by the introduction of electrified powertrains, Advanced Driver Assistance Systems (ADAS) and Automated Driving Systems (ADS). Additionally, the automotive industry must reduce development times and cost, while keeping flexible development capabilities and fulfilling demanding regulation standards for safety-critical systems. Existing testing frameworks based on simulation implement typically analytical models to ensure real-time performance, and provide limited flexibility to perform Hardware in the Loop (HiL) setup based tests. In this work a vehicle modelling approach which guarantees high accuracy and real-time capabilities is proposed. Moreover, the proposed approach is validated firstly with real vehicle data, demonstrating that it can fairly reproduce the behaviour of the vehicle tested; and secondly, in a HiL setup to demonstrate the real-time execution capabilities of the approach.

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Section: A Coordinates Selectionmentioning

confidence: 99%

Section: B Multibody Formulationmentioning

confidence: 99%

“…whereM andQ are the mass matrix and force vector of the system for body coordinates, whose expressions can be found in [27]. This equation can be reduced to,…”

Section: B Multibody Formulationmentioning

confidence: 99%

Section: B Multibody Formulationmentioning

confidence: 99%

Section: B Multibody Formulationmentioning

confidence: 99%

See 3 more Smart Citations

Validation of a Real-Time Capable Multibody Vehicle Dynamics Formulation for Automotive Testing Frameworks Based on Simulation

2020

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Hardware acceleration of multibody simulations for real-time embedded applications

et al. 2020

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Comparing double-step and penalty-based semirecursive formulations for hydraulically actuated multibody systems in a monolithic approach

et al. 2021

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The simulation of mechanical systems often requires modeling of systems of other physical nature, such as hydraulics. In such systems, the numerical stiffness introduced by the hydraulics can become a significant aspect to consider in the modeling, as it can negatively effect to the computational efficiency. The hydraulic system can be described by using the lumped fluid theory. In this approach, a pressure can be integrated from a differential equation in which effective bulk modulus is divided by a volume size. This representation can lead to numerical stiffness as a consequence of which time integration of a hydraulically driven system becomes cumbersome. In this regard, the used multibody formulation plays an important role, as there are many different procedures for the constraint enforcement and different sets of coordinates to choose from. This paper introduces the double-step semirecursive approach and compares it with a penalty-based semirecursive approach in case of coupled multibody and hydraulic dynamics within the monolithic framework. To this end, hydraulically actuated four-bar and quick-return mechanisms are analyzed as case studies. The two approaches are compared in terms of the work cycle, energy balance, constraint violation, and numerical efficiency of the mechanisms. It is concluded that the penalty-based semirecursive approach has a number of advantages compared with the double-step semirecursive approach, which is in accordance with the literature.

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Real-Time Multibody Dynamics and Applications

Cited by 18 publications

References 18 publications

Validation of a Real-Time Capable Multibody Vehicle Dynamics Formulation for Automotive Testing Frameworks Based on Simulation

Validation of a Real-Time Capable Multibody Vehicle Dynamics Formulation for Automotive Testing Frameworks Based on Simulation

Hardware acceleration of multibody simulations for real-time embedded applications

Comparing double-step and penalty-based semirecursive formulations for hydraulically actuated multibody systems in a monolithic approach

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