Real-Time Multibody Vehicle Dynamics Software for Virtual Handling Tests

2007 ◽  
Author(s):  
Sung-Soo Kim ◽  
Kyoungnam Ha ◽  
Dohyun Kim ◽  
Taeoh Tak ◽  
Seung-Eon Shin
Keyword(s):  
Virtual Reality ◽  
Real Time ◽  
Vehicle Dynamics ◽  
Equations Of Motion ◽  
Synthesis Method ◽  
Hardware In The Loop ◽  
Vehicle Modeling ◽  
Time Dynamics ◽  
Point Data ◽  
Suspension Model

Real-time multibody vehicle dynamics software has been developed for virtual handling tests. The software can be utilized for hardware in the loop simulations and consists of three modules such as a graphical vehicle modeling preprocessor, real time dynamics solver, and virtual reality graphic postprocessor for virtual handling tests. In the graphical vehicle modeling preprocessor, vehicle hard point data for a suspension model are automatically converted into multibody vehicle model. In the real time dynamics solver, efficient subsystem synthesis method is used to create multibody equations of motion a subsystem by a subsystem. In the virtual reality graphic postprocessor, virtual proving ground environment has been also developed by using OpenGL for virtual handling tests. This software is written C and can be converted to the S-function as a plant model in the RT-LAB real time environment for HILS application.

A Real-Time Multibody Vehicle Dynamics Model Using a Subsystem Synthesis Method

2001 ◽  
Author(s):  
Sung-Soo Kim ◽  
Young-Seok Oh
Keyword(s):  
Real Time ◽  
Vehicle Dynamics ◽  
Equations Of Motion ◽  
Synthesis Method ◽  
Dynamics Model ◽  
Vehicle Model ◽  
Recursive Formulation ◽  
The Real ◽  
Stop And Go ◽  
Time Simulation

Abstract A real-time multibody vehicle dynamics model has been developed using a subsystem synthesis method in a PC-based workstation. The subsystem synthesis method produces 6 × 6 matrix form of equations of motion for the chassis and small size each of suspension subsystem equations of motion separately. Simulations such as, bump-run, stop-and-go, and brake-in-turn have been carried out. Solutions have been validated to compare with those from the model with the conventional recursive formulation. CPU times taken for simulations have been also measured to verify the real-time simulation capability of the proposed vehicle model.

scholarly journals Hardware-in-the-loop simulation for estimating dynamics parameters of vehicle

2019 ◽  
Vol 17 (6) ◽  
pp. 39
Author(s):  
Đông Nguyễn Văn
Keyword(s):  
Control System ◽  
Real Time ◽  
Vehicle Dynamics ◽  
Data Transfer ◽  
Dynamical Model ◽  
Hardware In The Loop ◽  
Virtual Sensor ◽  
Virtual Vehicle ◽  
Simulation Results

Information about vehicle dynamics states is indispensable for modern dynamics control system on vehicle today. For economic reasons, a technique called “virtual sensor” which bases on dynamical model of vehicle and an observation algorithm are used to estimate real states of vehicle. In this paper, a system based on Hardware-in-the-loop simulation will be used to estimate the vehicle states in real time. CarSim is a professional software for simulating the dynamics of vehicle which is used as a virtual vehicle in this paper. An observer based on Luen-berge method is developed and implemented by Arduino Mega 2560 board. Matlab/Simulink plays the role of acquistion and data transfer center. The simulation results show the good performance of observer in real time condtion when the estimated values are well converged to real values given by CarSim.

Mutibody Vehicle Dynamics Analysis Using an Explicit-Implicit Integrator With Subsystem Synthesis Method

2011 ◽  
Author(s):  
Sung-Soo Kim ◽  
Wan Hee Jeong ◽  
Junyoun Jo ◽  
Ji-Hyeun Wang
Keyword(s):  
Vehicle Dynamics ◽  
Integration Method ◽  
Equations Of Motion ◽  
Effective Means ◽  
Synthesis Method ◽  
Implicit Integration ◽  
Explicit Integration ◽  
Virtual Reference ◽  
Computational Speed ◽  
Speed Up

This paper proposes an explicit-implicit numerical integration method in order to apply to multibody vehicle dynamics model based on a subsystem synthesis method. The subsystem synthesis method can provide effective means to independently analyze each subsystem with virtual reference body. In the proposed method, the explicit integration is used for solving the equations of motion for a base body, while the implicit integration is utilized for obtaining the solutions of the equations of motion for each subsystem. For the purpose of the application of the implicit formulas easily, a subsystem synthesis method with the Cartesian coordinates is developed. In order to show the application viability and effectiveness of the proposed method, an extensive comparative study has been performed through simulations. Then, the proposed method is compared to conventional implicit integration method applied to an overall system. When simulating the bump run of a multibody vehicle model with compliance effect such as bushing elements, the proposed method achieves about 2 times computational speed-up. Furthermore, the simulation study reveals that the larger the number of the attached subsystems is, the better the computational efficiency of the proposed method is than that of the conventional implicit integration method.

Modelling of Kinematics and Dynamics of the IPAnema 3 Cable Robot for Simulative Analysis

2015 ◽  
Vol 794 ◽  
pp. 419-426
Author(s):  
Philipp Tempel ◽  
Philipp Miermeister ◽  
Armin Lechler ◽  
Andreas Pott
Keyword(s):  
Real Time ◽  
Large Scale ◽  
Controller Design ◽  
Equations Of Motion ◽  
Parallel Robot ◽  
Kinematics And Dynamics ◽  
Hardware In The Loop ◽  
The Real ◽  
Linear Spring ◽  
Dynamics Modelling

This paper covers the kinematics and dynamics modelling of the mechatronic model for a 6 DOF cable-driven parallel robot and derives a real-time capable simulation model for such robots. The governing equations of motion for the platform are derived using Newton-Euler formalism, furthermore, the pulley kinematics of the winches and a linear spring-damper based cable model is introduced. Once the equations of motion are derived, closed-form force distribution is implemented and simulation results of the real-time capable model for the cable-driven parallel robot IPAnema3 are presented. Given the real-time capability, the presented model can be used for hardware-in-the-loop simulation or controller design, but also for case studies of highly dynamic or large-scale robots.

Compliance Effect Consideration for Real-Time Multibody Vehicle Dynamics Using Quasi-Static Analysis

2007 ◽  
Author(s):  
Sung-Soo Kim ◽  
Wan Hee Jeong ◽  
Seonghoon Kim
Keyword(s):  
Real Time ◽  
Static Analysis ◽  
Vehicle Dynamics ◽  
Synthesis Method ◽  
Field Tests ◽  
Intelligent Vehicles ◽  
Dynamics Model ◽  
Vehicle Model ◽  
The Real ◽  
Reaction Forces

HILS (Hardware-in-the Loop Simulation) vehicle simulator is one of the most effective tools to develop control subsystems for the intelligent vehicles, since expensive vehicle field tests can be replaced with virtual tests in the HILS simulator. In the HILS simulator, the software vehicle dynamics model must be solved in real-time, and it must also reproduce the real vehicle motions. Compliance effects from suspension bush elements significantly influences the vehicle behavior. In order to include such compliance effects to the vehicle model, normally the spring-damper model of the bush elements is used. However, high stiffness of the bush elements hinders real-time simulations. Thus, it is necessary to have an efficient method to include compliance effects for the real-time multibody vehicle dynamics model. In this paper, compliance model for real-time multibody vehicle dynamics is proposed using quasi-static analysis. The multibody vehicle model without bush elements is used based on the subsystem synthesis method which provides real-time computation on the multibody vehicle model. Reaction forces are computed in the suspension subsystem. According to deformation from the quasi-static analysis using reaction forces and bush stiffness, suspension hardpoint locations and suspension linkage orientation are changed. To validate the proposed method, quarter car simulations and full car bump run simulations are carried out comparing with the ADAMS vehicle model with bush elements. CPU times are also measured to see the real-time capabilities of the proposed method.

A Low-Cost Real-Time Man-in-the-Loop Simulation for Multibody Systems

1989 ◽  
Author(s):  
J. L. Chang ◽  
S. S. Kim
Keyword(s):  
Real Time ◽  
High Speed ◽  
Low Cost ◽  
Equations Of Motion ◽  
Time Integration ◽  
Visual Display ◽  
Dynamics Simulation ◽  
Integration Algorithm ◽  
Multiprocessor Computer ◽  
Time Dynamics

Abstract This paper presents a general approach for achieving real-time man-in-the-loop simulation for multibody dynamic systems. Emerging real-time dynamics simulation technologies are exploited to develop a low-cost network based simulator as an interactive design workstation with a human operator in the control loop. An efficient recursive dynamic formulation is used to create multibody dynamics models. A parallel processing algorithm is developed based on the recursive dynamics formulation and implemented on a multiprocessor computer to achieve real-time simulation. As a real-time integration algorithm, third-order Adams-Bashforth method is used. The integration stepsize is estimated from the eigenvalue analysis of the equations of motion. High speed computer graphics techniques provide realistic visual display for the simulator. A backhoe simulation is implemented as an example to demonstrate the feasibility of man-in-the-loop simulation on the low-cost simulator.

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