Comparative study on multibody vehicle dynamics models based on subsystem synthesis method using Cartesian and joint coordinates

(整期优先)网络出版时间:2012-06-16
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Thesubsystemsynthesismethodhasbeendevelopedinordertoimprovecomputationalefficiencyforamultibodyvehicledynamicsmodel.Usingthesubsystemsynthesismethod,equationsofmotionofthebasebodyandeachsubsystemcanbesolvedseparately.Inthesubsystemsynthesismethod,variouscoordinatesystemscanbeusedandvariousintegrationmethodscanbeappliedineachsubsystem,aslongastheeffectivemassmatrixandtheeffectiveforcevectorareproperlyproduced.Inthispaper,comparativestudyhasbeencarriedoutforthesubsystemsynthesismethodwithCartesiancoordinatesandwithjointrelativecoordinates.Twodifferentintegrationmethodssuchasanexplicitintegratorandanexplicitimplicitintegratorareemployed.Inordertoseetheaccuracyandcomputationalefficiencyfromthedifferentmodelsbasedonthedifferentcoordinatesystemsanddifferentintegrationmethods,aroughterrainrunsimulationshasbeencarriedoutwitha6×6off-roadmultibodyvehiclemodel.