Real-time, multi-body vehicle dynamics using a modular modelling methodology

摘要

Simulations of ground vehicles are extensively used by military and commercial vehicle developers to aid in the design process. In the past, ground vehicle simulations have focused on non-real-time models. However with the advancement of computers and modelling methodologies, real- time, multi-body models have become one of the standard tools used by vehicle developers. Multi-body models are composed of joint, body, and force elements which map well into a modular modelling approach. Based on recursive techniques, a set of reusable components were developed for use in a graphical simulation and modelling environment. The components were then connected to form a real-time, multi-body model of a Ford Taurus. Finally, the Taurus model was integrated with simulator cueing subsystems to build a complete driving simulator. The performance of the Taurus model was compared with test data. It was found that the vehicle model was both accurate and ran much faster than real time. Due to the model formulation, the current set of modular components are limited to modelling open treed systems with either a fixed or mobile base body.