Symbolic multibody methods for real-time simulation of railway vehicles

Ros, Javier; Plaza, Aitor; Iriarte, Xabier; Pintor, Jesus Maria

doi:10.1007/s11044-017-9608-1

Cited by 7 publications

(5 citation statements)

References 23 publications

(20 reference statements)

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“…7 shows, the large bucket required more time to complete the task than the small and medium buckets, 56.9% and 40% longer, respectively. , the considerable difference i ), the big bucket compensated the transferring much more amount of material 7. Total spent time to complete the task for the three buckets medium,…”

Section: Xecuting Excavator Casementioning

confidence: 95%

“…The problem of high cost can be mitigated using a real-time simulation approach based on multibody system dynamics. Real-time simulation in multibody systems has been studied in a number of research areas such as aviation and industrial vehicles [7]- [9], hybrid vehicles [10], the automotive industry [11], four-bar mechanisms, and flexible multibody systems [12], [13].…”

Section: Introductionmentioning

confidence: 99%

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A Design Process to Parameterize a Real-Time Simulation Model of a Commercial Vehicle

Mohammadi

Kurvinen

Mikkola

2019

IREME

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This paper introduces a method for building a real-time simulation model with adjustable user-selected parameters. The proposed design process model consists of eight steps with four decision points. Parameterization is a technique enabling real-time simulation with different combinations of parameters. Currently, there is no unique way to incorporate user input and switch between model combinations. The proposed method is presented in the form of a flowchart. Based on the data, a 3D design of the model was constructed. Two alternative approaches were introduced to construct a parameterized real-time simulation model with user inputs. The approach used was selected based on the number of parameterized specifications. The feasibility of each case was analyzed analytically and by simulation. Finally, a version of the model was selected based on the given initial requirements. To illustrate the developed approach, an excavator model was selected for parameterization. In the excavator model, two parts are considered to have adjustable parameters: the bucket and the hydraulics. Each part has three options that can be selected by users. The approach enables easy adaptability of user-generated parameter inputs, thus permitting evaluation of multiple scenarios, while simultaneously maintaining realistic representation.

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Section: Xecuting Excavator Casementioning

confidence: 95%

Section: Introductionmentioning

confidence: 99%

A Design Process to Parameterize a Real-Time Simulation Model of a Commercial Vehicle

Mohammadi

Kurvinen

Mikkola

2019

IREME

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“…Para la obtención de los términos dinámicos se hace uso de la librería desarrollada por la Universidad Pública de Navarra [14][15][16] con la cual se puede realizar análisis y simulaciones en el ámbito de la dinámica de sistemas multicuerpos. Este set de códigos y funciones de Matlab permiten diseñar, analizar y simular cualquier sistema multicuerpo que se desee, consiguiendo obtener las ecuaciones cinemáticas y dinámicas del mismo.…”

Section: Lib_3d_mec_matlabunclassified

Modelado multiplataforma para el control de sistemas mecánicos

2022

Congreso Iberoamericano De Ingeniería Mecánica-Cibim 2022

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En el presente artículo se ha trabajado con las herramientas de simulación de sistemas mecánicos Gazebo y Simulink, realizando una interconexión entre ambos con el fin de desglosar la parte dinámica y cinemática de la parte de control, obtención y tratamiento de datos. La vía de enlace entre ambos programas se realiza mediante otro software de comunicación, ROS. Con todo ello, se ha conseguido la cosimulación de un mecanismo articulado en la cual, Simulink comanda trayectorias a Gazebo a través de pares en articulaciones, Gazebo envía los valores de posición articular de la simulación a Simulink, y mediante el control multiarticular de pares realimentados diseñado en este último programa, se minimiza el error entre la trayectoria simulada y la ideal. La obtención de los parámetros del modelo dinámico requeridos en el control se ha realizado mediante una librería de Matlab (Lib_3D_MEC_Matlab) de análisis de sistemas multicuerpo desarrollada por la UPNA.

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“…In this regard, some researches have achieved to run multibody models on other kinds of platforms, such as FPGA [ 20 ] or ARM-based systems [ 21 ]. In particular, the above-mentioned symbolic approach has been proved to be a good candidate to achieve real-time computation without having to resort to simplifications within the model [ 22 ].…”

Section: State-of-the-artmentioning

confidence: 99%

Haptic Devices Based on Real-Time Dynamic Models of Multibody Systems

Docquier

Timmermans

Paul

2021

Sensors

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Multibody modeling of mechanical systems can be applied to various applications. Human-in-the-loop interfaces represent a growing research field, for which increasingly more devices include a dynamic multibody model to emulate the system physics in real-time. In this scope, reliable and highly dynamic sensors, to both validate those models and to measure in real-time the physical system behavior, have become crucial. In this paper, a multibody modeling approach in relative coordinates is proposed, based on symbolic equations of the physical system. The model is running in a ROS environment, which interacts with sensors and actuators. Two real-time applications with haptic feedback are presented: a piano key and a car simulator. In the present work, several sensors are used to characterize and validate the multibody model, but also to measure the system kinematics and dynamics within the human-in-the-loop process, and to ultimately validate the haptic device behavior. Experimental results for both developed devices confirm the interest of an embedded multibody model to enhance the haptic feedback performances. Besides, model parameters variations during the experiments illustrate the infinite possibilities that such model-based configurable haptic devices can offer.

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Symbolic multibody methods for real-time simulation of railway vehicles

Cited by 7 publications

References 23 publications

A Design Process to Parameterize a Real-Time Simulation Model of a Commercial Vehicle

A Design Process to Parameterize a Real-Time Simulation Model of a Commercial Vehicle

Modelado multiplataforma para el control de sistemas mecánicos

Haptic Devices Based on Real-Time Dynamic Models of Multibody Systems

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