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1.
The sensitivity of the ride characteristics of a road vehicle to the mechanical characteristics of the bushings used in its
suspension is discussed here. First, the development and computational implementation, on a multibody dynamics environment,
of a constitutive relation to model bushing elements associated with mechanical joints is presented. Bushings are made of
a rubber type of material, which presents a nonlinear and viscoelastic relationship between the forces and moments and their
corresponding displacements and rotations. Suitable bushing models for vehicle multibody models must be accurate and computationally
efficient, leading to more reliable models. The bushing is modeled in a multibody code as an arrangement of springs that penalize
the motion between the bodies connected. In the methodology proposed here, a finite element model of the bushing is developed
in the framework of a finite element (FE) code to obtain the curves of displacement/rotation versus force/moment for different
loading cases. The basic ingredients of the multibody model are the same vectors and points relations used to define kinematic
constraints in any multibody formulation. Spherical, cylindrical and revolute bushing joints are developed and implemented
in this work, since the methodology is demonstrated through the ride over bumps, at different speeds, of two multibody models
of a road vehicle: one with perfect kinematic joints, for the suspension sub-systems; the other with bushing joints, riding.
Then, sensitivities of different vehicle kinematic responses to the characteristics of the bushings used in the suspension
are evaluated, by using numerical sensitivities. Based on the sensitivity analysis, indications on how to modify the vehicle
response by modifying the bushing characteristics are drawn.
This paper was presented at the 4th Asian Conference on Multibody Dynamics(ACMD2008), Jeju, Korea, August 20–23, 2008.
Jorge A.C. Ambrósio received his Ph.D. degree from the University of Arizona in 1991, being currently Professor at the Mechanical Engineering
Department of Instituto Superior Técnico at the Technical University of Lisbon, Portugal. He is the author of several books
and a large number of papers in international journals in the areas of multibody dynamics, vehicle Dynamics, crashworthiness
and biomechanics. He has been responsible for several international projects in railway dynamics, biomechanics and passive
safety. Currently he is the Editor-in-Chief of Multibody System Dynamics and member of the editorial boards of several international
journals. 相似文献
2.
Seong-Jin Kwon Jee- Hoon Chun Suk Jang Myung-Won Suh 《Journal of Mechanical Science and Technology》2006,20(1):29-41
Nowadays, with the advancement of computers, computer simulation linked with VR (Virtual Reality) technology has become a
useful method for designing the automotive driving system. In this paper, the VR simulation system was developed to investigate
the driving performances of the ASV (Advanced Safety Vehicle) equipped with an ACC (Adaptive Cruise Control) system. For this
purpose, VR environment which generates visual and sound information of the vehicle, road, facilities, and terrain was organized
for the realistic driving situation. Mathematical models of vehicle dynamic analysis, which includes the ACC algorithm, have
been constructed for computer simulation. The ACC algorithm modulates the throttle and the brake functions of vehicles to
regulate their speeds so that the vehicles can keep proper spacing. Also, the real-time simulation algorithm synchronizes
vehicle dynamics simulation with VR rendering. With the developed VR simulation system, several scenarios are applied to evaluate
the adaptive cruise controlled vehicle for various driving situations. 相似文献
3.
Sung-Soo Kim Oskar Wallrapp Jeong Joo Kwon Do Hyun Kim Diana Wachter 《Journal of Mechanical Science and Technology》2009,23(4):1065-1070
A 6-axis motion simulator has been developed, in order to regenerate UGV (unmanned ground vehicle) motion and to test the
stabilization system of the mobile surveillance robot that is mounted on the UGV. For developing the 6-axis motion simulator,
a simulation-based design procedure was introduced. The 3D geometric model of the motion simulator was created by using 3D
CAD modeler ProE. The multibody dynamics model of the motion simulator has also been created by using the general purpose
dynamic analysis program ADAMS to validate the design of the motion simulator. Dynamics and control co-simulation model for
the motion simulator has been also established for control performance analyses. Actual hardware of the motion simulator has
been fabricated based on the proposed simulation based design. Hardware test of the motion simulator has been tried to validate
the design.
This paper was presented at the 4th Asian Conference on Multibody Dynamics(ACMD2008), Jeju, Korea, August 20–23, 2008.
Oskar Wallrapp was awarded a Ph.D. degree in Mechanical Engineering at the Technical University of Berlin, Germany in 1989. Dr. Wallrapp
is currently a Professor in the Department of Precision and Micro Engineering, Muenchen University of Applied Science, Munich,
Germany. His research interests are mechanism analysis and design, robotics, and bio-mechanics.
Sung-Soo Kim received a Ph.D. degree in Mechanical Engineering from the University of Iowa in 1988. Dr. Kim is currently a Professor in
the Department of Mechatronics Engineering at Chungnam National University in Daejeon, Korea. His research interests are real-time
multibody formulation and its application to the automotive systems and military robot systems. 相似文献
4.
介绍了整车控制器快速原型的系统架构。在Simulink的软件平台上搭建了整车控制器仿真模型,利用仿真数据对算法原理进行错误检查和修正。介绍了利用MATLAB/RTWEC实现了基于模型的自动代码生成机制,并将应用层代码与控制器硬件TTC-90底层代码进行了集成,用于整车实验。整车实验结果证明了快速原型的正确性和MATLAB自动生成代码的可靠性、快速性。 相似文献
5.
为了满足HIL技术对适时仿真环境的要求 ,提高仿真速度 ,本文利用多体理论提出了组合铰的思想 ,建立了双作用臂悬架组合铰的运动学模型 ,并利用所建立的组合铰得到一个简化的汽车模型 ,该模型的运动学方程和约束方程的规模大大降低。本文对简化前后的两种汽车模型在同一个环境下进行了仿真计算 ,仿真结果表明 :利用组合铰建立的模型在不降低仿真精度的前提下节约了约 2 / 3的CPU计算时间 ,该模型能够应用于HIL技术。 相似文献
6.
柔性多体系统动力学的递推建模与算法 总被引:7,自引:2,他引:5
基于将2种变量的耦合运算降低到最少的数学模型的建立,是解决柔性多体系统动力学数值病态的关键。提出一种柔性多体系动力学的单向递推建模方法。在此基础上提出了一种新的违约校正方法,在数值计算上给予保证,最后,通过对一个闭环柔性多体系统的动力学与控制仿真计算的实现,表明上述方法的可行性。 相似文献
7.
Dong-Chan Lee Sang-Ho Lee Chang-Soo Han 《Journal of Mechanical Science and Technology》1998,12(1):22-30
This paper presents a corrector method for analyzing the dynamic behaviour of constrained multibody systems. For correcting
the state variables this method uses Lagrange-Newton method, which is a nonlinear programming technique. The Lagrange-Newton
method uses the Lagrangian function that is a combined form of state variables with constraints, and the iteration formulation
for convergence can be derived by the Newton-Raphson method. This algorithm does not update the Lagrange multipliers in the
iteration formulation, for correcting the state variables, and is to project the state variables on the constraint manifold,
in contrast to the previous local parametrization method. The validity of the algorithm and numerical solutions is verified
through the convergence theorem denoting the convergence order of numerical solutions and the dynamic analysis of the full
vehicle 3D model. The numerical solutions are compared with the ADAMS solutions 相似文献
8.
Selim Hasagasioglu Koray Kilicaslan Orhan Atabay Ahmet Güney 《The International Journal of Advanced Manufacturing Technology》2012,60(5-8):825-839
In this paper, the computer-aided vehicle dynamics analysis of a 6?×?2 heavy-duty commercial vehicle is examined. For the analysis, Mechanical Simulation Corporation's TruckSim multibody dynamics simulation and SuspensionSim multibody statics simulation softwares are used. The aim of this study is to design and model the front suspension and tandem rear axle suspensions, compose the full-vehicle model representing the real-life vehicle, and examine the dynamic behavior of this model. The models related to the front and rear suspensions are prepared and solved in SuspensionSim and the solutions are imported thereafter to TruckSim. The full-vehicle model excluding the suspension system is formed by using TruckSim. The simulation scenarios, runs of which are made to observe the effects of different parameters concerning the dynamic behavior of the full-vehicle model, are also prepared in TruckSim environment. 相似文献
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10.
You-Min Huang Tsung-Chia Chen 《The International Journal of Advanced Manufacturing Technology》2005,25(7-8):668-677
The finite element simulation is now widely used in the design of stamping tools. A trial and error procedure has been replaced by a simulation in which defects associated with sheet forming processes are predicted and evaluated. This paper aims to clarify the process conditions of the V-die bending of a sheet metal. It provides a model that predicts not only the correct punch load for bending, but also the precise final shape of the products after unloading. An incremental elastic-plastic finite element computer code, based on an updated Lagrangian formulation, was developed to simulate the V-die bending of sheet metal. In particular, the assumed strain field (ASF) element was used to formulate the stiffness matrix. The r-minimum technique was used to deal with the elastic-plastic state and solve contact problems at the tool-metal interface. A series of experiments were performed to validate the formulation in the theory, leading to the development of the computer codes. The predicted punch load in the finite element model agrees closely with the experimental results. The whole history of deformation and the distribution of stress and strain during the forming process were obtained by carefully considering the moving boundary condition in the finite element method .A unique feature of this V-die bending process is the camber after unloading. The computer code successfully simulates this camber. The simulation was performed to evaluate the effects of the size of the blank on the camber process. The results in this study clearly demonstrate that the computer code efficiently simulated the camber process . 相似文献
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12.
A new model-based predictive control algorithm for vehicle trajectory control is proposed by using vehicle velocity and sideslip
angle. Based on the error function combined with vehicle velocity and side slip of a bicycle model, a predictive control method
has been proven to be useful on low velocity. Thus, it could be applied for an autonomous vehicle without a driver. Although
an autonomous robot is not necessary to be driven with a high velocity, a commercial vehicle has to be driven at high velocity.
Thus the previous predictive control formulation is not enough for a commercial driving system. This study is proposed to
enhance the capacity of the predictive controller for rather high speed vehicles.
This paper was presented at the 4th Asian Conference on Multibody Dynamics(ACMD2008), Jeju, Korea, August 20–23, 2008.
Mr. Jeong-Han Lee is pursuing a Ph.D. degree in Mechanical Engineering at Pusan National University under the supervision of professor Wan-Suk
Yoo. His research interests are focused on the area of adaptive control using multibody dynamics.
Dr. Wan-Suk Yoo received his Ph.D. degree in 1985 from the University of Iowa. In 1994, he became a full professor at the Pusan National
University, and he was selected an ASME fellow. He is serving as a vicepresident of the KSME. 相似文献
13.
Randomness exists in engineering Tolerance, assemble-error, environment temperature and wear make the parameters of a mechanical system uncertain So the behavior or response of the mechanical system is uncertain In this paper, the uncertain parameters are treated as random variables So if the probability distribution of a random parameter is known, the simulation of mechanical multibody dynamics can be made by Monte-Carlo method Thus multibody dynamics simulation results can be obtained in statistics A new concept called functional reliability is put forward in this paper, which can be defined as the probability of the dynamic parameters (such as position, orientation, velocity, acceleration etc) of the key parts of a mechanical multibody system belong to their tolerance values A flexible mechanical arm with random parameters is studied in this paper The length, width, thickness and density of the flexible arm are treated as random variables and Gaussian distribution is used with given mean and variance Computer code is developed based on the dynamic model and Monte-Carlo method to simulate the dynamic behavior of the flexible arm At the same time the end effector’s locating reliability is calculated with cncular tolerance area The theory and method presented in this paper are applicable on the dynamics modeling of general multibody systems 相似文献
14.
基于并行计算的新型并联机床动力学解析模型 总被引:7,自引:1,他引:7
基于运动学分析、凯恩动力学方程和数字-符号方法,建立了新型并联机床的动力学解析模型。将动力学模型矩阵的推导问题转化为特定条件下运用运动学和动力学计算公式求解驱动力的问题,由计算机自动生成了动力学模型矩阵的各矩阵元素的实时代码,并提出了实时代码的多项式结构优化方法。还构造了动力学解析模型的并行算法。由于动力学模型是离线建立和优化的加上采用了并行计算结构,大大减少了在线计算量,节省了计算时间。给出了动力学模型矩阵元素实时代码生成和仿真计算的数值实例。 相似文献
15.
基于改进的机器人动力学解析(数字-符号)模型算法,研制出用于机器人动力学自动建模的计算机辅助生成软件。在计算机上自动生成机器人的动力学模型元素与运动方程,并产生动力学模型的实时代码。采用的解析模型算法改进了动力模型多项式结构矩阵的优化算法,还简化了代码输出程序,大大减少了中间变量与赋值语句。提高了运算速度及导致最少的浮点乘/加数。该软件还带有图形接口,用于仿真时具有动画显示功能。 相似文献
16.
In Part 1 of this paper, the method of joint coordinate formulation for multibody dynamics was reviewed. The application of this method to forward and inverse dynamics, static equilibrium, and design sensitivity analyses was studied. In Part 2 of the paper, systematic procedures for constructing the necessary matrices for the joint coordinate formulation are discussed in detail. These matrices are; the primary and the secondary path matrices describing the topology of the system, the velocity transformation matrix, and the generalized inertia matrix. The procedures for constructing these matrices and other necessary elements for the joint coordinate formulation can easily be implemented in a computer program for analysis and design process. 相似文献
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Chan Jong Park 《Journal of Mechanical Science and Technology》2018,32(12):5615-5621
An electric motor coupled with a gear train generates driving torque to move step band and handrail band together with passenger load for operation. Therefore, understanding of electric motor dynamics and its influence on escalator system in transient and steady state is very important for both product development and service operation in compliance with safety code requirement. A multidisciplinary escalator simulation model in complete system-level is introduced based on multibody dynamics technology including 3-phase induction motor, gear train inside of machine gearbox, step band, handrail band and all other drive chain bands. Torque from 3-phase induction motor is considered in the system model by the flux linkages equations derived from d-q axis equivalent circuit. The verified simulation model compared with Thévenin’s equivalent circuit model is used to investigate driving performance of an escalator system in different passenger load condition. 相似文献