| 利用组合铰建立汽车多体运动学模型 |
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| 引用本文： | 包继华 张建武 任少云. 利用组合铰建立汽车多体运动学模型[J]. 机械科学与技术, 2004, 23(1): 50-54 |
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| 作者姓名： | 包继华 张建武 任少云 |
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| 作者单位： | 上海交通大学,机械工程学院,上海,200030;上海交通大学,机械工程学院,上海,200030;上海交通大学,机械工程学院,上海,200030 |
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| 摘 要： | 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。
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| 关 键 词： | 组合铰 多体系统 HIL仿真 Euler角 |
| 文章编号： | 1003-8728(2003)01-0050-05 |
Modeling the Kinematics of a Multibody Vehicle Using Composite Joints |
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| BAO Ji-hua,ZHANG Jian-wu,REN Shao-yun. Modeling the Kinematics of a Multibody Vehicle Using Composite Joints[J]. Mechanical Science and Technology for Aerospace Engineering, 2004, 23(1): 50-54 |
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| Authors: | BAO Ji-hua ZHANG Jian-wu REN Shao-yun |
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| Abstract: | In order to meet the hardware-in-the-loop (HIL) simulation requirements and increase the speed of simulation,the composite joint of the double wishbone suspension is provided using the theory of multibody dynamics. The simplified full vehicle model is proposed using composite joints,and the number of kinematical equations and constraint equations is decreased significantly. In this paper,the simulation results of the simplified model is compared to its full vehicle model under the same simulation environment. It is found that the simulation results using the composite joints can reduce about 2/3 computation time without any degradation of kinematical accuracy of the double wishbone suspension,and it can be applied in the HIL simulation. |
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| Keywords: | Composite joint Multibody system HIL simulation Euler angle |
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