General Purpose Vehicle System Dynamics Software Based on Multibody Formalisms

SUMMARY

This paper pursues two objectives: Firstly, to review the state-of-the-art of general purpose vehicle system dynamics software and secondly, to describe two representatives, the program MEDYNA and the program NEWEUL. The general modeling requirements for vehicle dynamics software, the multibody system approach and a comparative discussion of multibody software are given. The two programs NEWEUL and MEDYNA are described with respect to modeling options, computational methods, software engineering as well as their interfaces to other software. The applicability of these programs is demonstrated on two selected examples, one from road vehicle problems and the other from wheel/rail dynamics. It is concluded that general purpose software based on multibody formalisms will play the same role for mechanical systems, especially vehicle systems, as finite element methods play for elastic structures.     

A Modular Computer Model for the Design of Vehicle Dynamics Control Systems1

SUMMARY

This paper describes a multiport approach to computer-aided modeling of vehicle dynamics. The modeling approach produces models that are suitable for the interactive design and evaluation of complex control strategies. The vehicle model which can be used for ride and handling analysis, is built from modular components. The components are programmed using the syntax of the computer aided control system design (CACSD) program EASYS. Seven modeling components are used to create a three-dimensional vehicle dvnamics model. The model is flexible enoug-h to simulate any suspension design with revolute joints.

Each component of the model consists of a FORTRAN subroutine and a main calling module called a macro. To simplify the process of model building, the modeling components in the car model are designed to represent physical elements, such as the spring, damper, link or tire. To create a model, the components, which are represented by blocks, are interconnected through points, located on the blocks, called pons. These ports have been designed to simulate the location of the connection points between the physical elements, as observed in real systems. The construction of multibody models within a CACSD program offers the flexibility of simultaneous interactive simulation of the three-dimensional dvnamics and evaluation of the desien of the controls.

Although modeling of multibody systems using FORTRAN components has been pioneered by Chace, Haug and Orlandea; and bond graph modeling of multibody systems has been investigated by Bos, this approach is novel because:-

The model is included in the control system design program (EASYS). This arrangement allows the designer to exploit the advanced control design tools available in the program. Furthermore, this approach significantly reduces the computation time required for running the model after parameters modification.

The model is built from components that are interconnected by ports which represent the actual physical location of the connection points between the elements. The multiport approach simplifies the model building process for multibody systems. This simplification is achieved by reducing the model of a multibody system to a block diagram form.     

A Modular Computer Model for the Design of Vehicle Dynamics Control Systems1

This paper describes a multiport approach to computer-aided modeling of vehicle dynamics. The modeling approach produces models that are suitable for the interactive design and evaluation of complex control strategies. The vehicle model which can be used for ride and handling analysis, is built from modular components. The components are programmed using the syntax of the computer aided control system design (CACSD) program EASYS. Seven modeling components are used to create a three-dimensional vehicle dvnamics model. The model is flexible enoug-h to simulate any suspension design with revolute joints.

Each component of the model consists of a FORTRAN subroutine and a main calling module called a macro. To simplify the process of model building, the modeling components in the car model are designed to represent physical elements, such as the spring, damper, link or tire. To create a model, the components, which are represented by blocks, are interconnected through points, located on the blocks, called pons. These ports have been designed to simulate the location of the connection points between the physical elements, as observed in real systems. The construction of multibody models within a CACSD program offers the flexibility of simultaneous interactive simulation of the three-dimensional dvnamics and evaluation of the desien of the controls.

Although modeling of multibody systems using FORTRAN components has been pioneered by Chace, Haug and Orlandea; and bond graph modeling of multibody systems has been investigated by Bos, this approach is novel because:-

The model is included in the control system design program (EASYS). This arrangement allows the designer to exploit the advanced control design tools available in the program. Furthermore, this approach significantly reduces the computation time required for running the model after parameters modification.

The model is built from components that are interconnected by ports which represent the actual physical location of the connection points between the elements. The multiport approach simplifies the model building process for multibody systems. This simplification is achieved by reducing the model of a multibody system to a block diagram form.     

刚柔耦合多体车辆操纵稳定性研究

利用多体动力学方法建立了基于ADAMS软件平台的整车刚柔耦合多体系统操纵动力学仿真分析模型。并分别对多刚体模型和刚柔耦合多体模型进行了“转向盘脉冲输入”、“ISO移线”仿真，分析了构件的柔性对汽车操纵稳定性的评价指标值的影响。     

Optimization of the Lateral Stability of Rail Vehicles

Summary The lateral stability of a rail vehicle is optimized using a combination of multibody dynamics, sequential quadratic programming, and a genetic algorithm. Several steps are taken to validate this integrated approach and to show its effectiveness. First, a hand-derived solution to a 17 degree of freedom linear rail vehicle model is compared to the simulation results from the A'GEM multibody dynamics software. Second, the calculation of the 'critical speed' (above which a rail vehicle response becomes unstable) using sequential quadratic programming is validated for a specific example. In the process, the existence of sharply-discontinuous 'cliffs' in the plots of critical speed versus suspension stiffnesses are identified. These cliffs, which are due to switching of the least-damped mode in the system, greatly hinder the application of gradient-based optimization methods. Two methods that do not require gradient information, a genetic algorithm and the Nelder-Mead's Simplex algorithm, are used to optimize the critical speed. The two algorithms and their results are compared. In recognition of the cliff phenomenon, the definition of critical speed is generalized to make it a more practical measure of lateral stability.     

Simulation of Multibody Vehicles Moving over Elastic Guideways1

This paper describes the present state of a general purpose computer program for calculating the dynamic response of vehicles travelling over guideways which may be elastic.

The linearized state-equations of motion for general multibody vehicles are constructed automatically by the program, these equations are supplemented by the equations for the active subsystems. Finally, the vehicle system equations are combined with the modal equations for elastic guideways and the complete set of coupled equations is solved simultaneously by numerical integration.     

Simulation of Multibody Vehicles Moving over Elastic Guideways1

SUMMARY

This paper describes the present state of a general purpose computer program for calculating the dynamic response of vehicles travelling over guideways which may be elastic.

The linearized state-equations of motion for general multibody vehicles are constructed automatically by the program, these equations are supplemented by the equations for the active subsystems. Finally, the vehicle system equations are combined with the modal equations for elastic guideways and the complete set of coupled equations is solved simultaneously by numerical integration.     

Aeroelastic Effects in Multibody Dynamics

To enable a realistic assessment of the aeroelastic phenomena of aircraft, a simultaneous application of computational fluid dynamics (CFD), computational structural mechanics and flight mechanics has to be performed. Each discipline has developed powerful specialized tools which have to be adapted for multidisciplinary applications. The combination of CFD and elastic multibody systems is well suited for the simulation of a range of aircraft applications, especially for aircraft ground dynamics. Approaches to a coupling of elastic multibody systems and computational fluid dynamics have been performed using close coupling, that is a modal approach, and loose coupling, that is by co-simulation. In the article the applied programs and the coupling methods are presented. Advantages and limits of using multibody simulation as compared to the direct use of FEA methods for the representation of structural dynamics are discussed. Results of coupled steady and unsteady simulations are presented. Finally, an approach to the aeroelastic trim problem is shown.     

Optimization of the Lateral Stability of Rail Vehicles

Summary The lateral stability of a rail vehicle is optimized using a combination of multibody dynamics, sequential quadratic programming, and a genetic algorithm. Several steps are taken to validate this integrated approach and to show its effectiveness. First, a hand-derived solution to a 17 degree of freedom linear rail vehicle model is compared to the simulation results from the A'GEM multibody dynamics software. Second, the calculation of the ‘critical speed’ (above which a rail vehicle response becomes unstable) using sequential quadratic programming is validated for a specific example. In the process, the existence of sharply-discontinuous ‘cliffs’ in the plots of critical speed versus suspension stiffnesses are identified. These cliffs, which are due to switching of the least-damped mode in the system, greatly hinder the application of gradient-based optimization methods. Two methods that do not require gradient information, a genetic algorithm and the Nelder-Mead's Simplex algorithm, are used to optimize the critical speed. The two algorithms and their results are compared. In recognition of the cliff phenomenon, the definition of critical speed is generalized to make it a more practical measure of lateral stability.     

Aeroelastic Effects in Multibody Dynamics

To enable a realistic assessment of the aeroelastic phenomena of aircraft, a simultaneous application of computational fluid dynamics (CFD), computational structural mechanics and flight mechanics has to be performed. Each discipline has developed powerful specialized tools which have to be adapted for multidisciplinary applications. The combination of CFD and elastic multibody systems is well suited for the simulation of a range of aircraft applications, especially for aircraft ground dynamics. Approaches to a coupling of elastic multibody systems and computational fluid dynamics have been performed using close coupling, that is a modal approach, and loose coupling, that is by co-simulation. In the article the applied programs and the coupling methods are presented. Advantages and limits of using multibody simulation as compared to the direct use of FEA methods for the representation of structural dynamics are discussed. Results of coupled steady and unsteady simulations are presented. Finally, an approach to the aeroelastic trim problem is shown.     

Direct Covariance Analysis for the Calculation of Creepages and Creep-Forces for Various Bogies on Straight Track with Random Irregularities

In this paper creep-forces and creepages for an ICE express train coach and an electric locomotive BR 120 of the DB on straight track with random irregularities are investigated. The calculations are made with the multibody program MEDYNA using direct covariance analysis. One of the aims of this article is to emphasize the advantages of the direct covariance method (time domain) compared with the power spectral density method (frequency domain).     

Direct Covariance Analysis for the Calculation of Creepages and Creep-Forces for Various Bogies on Straight Track with Random Irregularities

SUMMARY

In this paper creep-forces and creepages for an ICE express train coach and an electric locomotive BR 120 of the DB on straight track with random irregularities are investigated. The calculations are made with the multibody program MEDYNA using direct covariance analysis. One of the aims of this article is to emphasize the advantages of the direct covariance method (time domain) compared with the power spectral density method (frequency domain).     

Design of rollover prevention controller with linear matrix inequality-based trajectory sensitivity minimisation

This paper presents a method to design a rollover prevention controller for vehicle systems. The vehicle rollover can be prevented by a controller that minimises the lateral acceleration and the roll angle. Rollover prevention capability can be enhanced if the controlled vehicle system is robust to the variation of the height of the centre of gravity and the speed of the vehicle. For this purpose, a robust controller is designed with linear matrix inequality-based trajectory sensitivity minimisation. Differential braking and active suspension are adopted as actuators that generate yaw and roll moments, respectively. The newly proposed method is shown to be effective in preventing rollover by the simulation on a non-linear multibody dynamic simulation software, CarSim^®.     

汽车撞行人模拟计算研究

用计算机模拟车撞行人运动过程具有十分重要的实际意义，本文从一个新的角度描述多体系统，建立了一种以刚体质心加速度和刚体角加速度为待解变量，以较间广义坐标为积分变量的多体系统动力学方法，以该方法为理论基础，开发了汽车碰撞人体运动响应三维模拟计算软件系统ＭＵＬ３Ｄ。运用该软件系统对汽车撞行人运动响应进行了模拟计算，对比模拟计算结果，真实交通事故和著名的ＭＡＤＹＭＯ软件计算结果，初步证实该方法和该软件系统     

A fuzzy approach to reconstructing vehicle–pedestrian collisions

Vehicle–pedestrian collision is one of the most frequent and most severe types of road accident. Many models, both theoretical and empirical, have been developed over the last 30 years to reconstruct this type of impact, but not all of them yield accurate results, with a spread averaging about ±10?km/h. Many multibody software systems have been developed as well. They are very accurate and, when all of the parameters required by the software are available, they are the best methods to reconstruct the collision. However, complete knowledge of the precise dynamics of pedestrian motion throughout the trajectory is not necessary. For a court expert, the data on conditions of pre-impact, impact and rest position are usually sufficient to make an adequate survey. The fuzzy approach presented in this paper is used to calculate the velocity of the impacting vehicle, considering the main parameters, all collectable at the scene of the accident, with a precision of about 3?km/h. Accordingly, this methodology represents a suitable tool for the purpose of accident reconstruction.     

Simulation Tools,Modelling and Identification,for an Automotive Shock Absorber in the Context of Vehicle Dynamics

For purpose of simulation of vehicle dynamics, a physical model of an automotive shock absorber has been developed and implemented in several software packages for multibody simulations. In the present paper, the damper model structure is shortly elaborated together with some measurement and estimation techniques to retrieve the model parameters, possibly from dynamometer measurements only. These techniques are illustrated on a shock absorber normally used on the front suspension of a BMW series 7.     

Simulation Tools, Modelling and Identification, for an Automotive Shock Absorber in the Context of Vehicle Dynamics

For purpose of simulation of vehicle dynamics, a physical model of an automotive shock absorber has been developed and implemented in several software packages for multibody simulations. In the present paper, the damper model structure is shortly elaborated together with some measurement and estimation techniques to retrieve the model parameters, possibly from dynamometer measurements only. These techniques are illustrated on a shock absorber normally used on the front suspension of a BMW series 7.     

Road and off-road vehicle system dynamics. Understanding the future from the past

A detailed analysis of scientific research directions and methods in ground vehicle dynamics and vehicle system dynamics during the past century is presented in this article. What started as peculiarities of vehicle motion, dynamics of vehicles went through extensive research and engineering work and was established as an applied science – vehicle dynamics. Steady motion and transient manoeuvres, multi-flexible-body dynamics, nonlinear and stochastic dynamics, terramechanics, vehicle operational properties and their multi-criterion optimisation, computer modelling and simulation, analysis and optimal synthesis, various controls, inverse vehicle dynamics, open architecture-type, and multi-domain vehicle systems – these are the milestones of developments over the past century. This article considers the subject-matter and the substance of vehicle dynamics in general, and new research directions of modern vehicle dynamics in particular. It is shown that modern vehicle dynamics is acquiring principally new features including agile dynamics of multi-physics mechatronic systems (including cyber-type systems), coupled and interactive vehicle system dynamics.