Iterative refinement of accelerations in real-time vehicle dynamics

[+] Author and Article Information
Yongjun Pan

School of Automotive Engineering, Chongqing University, Chongqing, China

Javier García de Jalón

Computational Mechanics Group, INSIA-UPM, Madrid, 28031, Spain

1Corresponding author.

ASME doi:10.1115/1.4037417 History: Received March 12, 2017; Revised July 07, 2017


A number of strategies can be followed to efficiently simulate multibody systems. The main contributing factor to computational efficiency is usually the algorithm itself (the number of equations and their structure, the number of coordinates, the time integration scheme, etc.). Additional (but equally important) aspects have to do with implementation (linear solvers, sparse matrices, parallel computing, etc.). In this paper, an iterative refinement technique is introduced into a semirecursive multibody formulation. First, the formulation is summarized and its basic features are highlighted. Then, the basic goal is to iteratively solve the fundamental system of equations to obtain the accelerations. The iterative process is applied to compute corrections of the solution in an economic way, terminating as soon as a given precision is reached. We show that, upon implementation of this method, the computation time can be reduced at a very low implementation and accuracy costs. Two vehicles are simulated to prove the numerical benefits, namely a 16-degree-of-freedom sedan vehicle and a 40-degree-of-freedom semitrailer truck. In short, a simple method to iteratively solve for the accelerations of multibody systems in an efficient way is presented.

Copyright (c) 2017 by ASME
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