Semi-recursive Modeling of Vehicle Multibody System Based on Suspension-control-arm Removal Technique

doi:10.3901/JME.2023.16.263

Abstract

Abstract: A double-step semi-recursive multibody formulation is proposed by Spanish scholar Javier García de Jalón. This method uses a set of independent relative coordinates to describe the governing equations of the system with a high computational efficiency.However, the modeling of the suspension-control-arm is difficult and the method is unable to perform faster-than-real-time simulation.This study proposed a semi-recursive vehicle multibody system modeling technique based on the suspension-control-arm removal.The vehicle system tree-topology is obtained by removing left and right suspension-control-arms. The loop-closure constraint equations are generated as a consequence. The related inertial and external forces are calculated and assigned to the whole system via recursive rule. Therefore, the governing equations resulting from the suspension-control-arm removal technique are derived. The 4th order Runge-Kutta（4th RK） and Adams-Bashforth-Moulton（ABM） methods are utilized during the numerical integration process. The results show that, upon implementation of the 4th RK and ABM algorithms, the accurate real-time simulation is performed. The proposed technique provides a theoretical basis for active safety control in autonomous vehicles.

Key words: semi-recursive modeling, multibody system dynamics, vehicle system dynamics, loop-closure constraint equations, numerical algorithm

CLC Number:

TG156

DAI Wei, PAN Yongjun, ZHANG Zhifei. Semi-recursive Modeling of Vehicle Multibody System Based on Suspension-control-arm Removal Technique[J]. Journal of Mechanical Engineering, 2023, 59(16): 263-274.

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