Constraint Embedding Approach for Complex Vehicle Suspension Dynamics.

摘要

The goal of this research is to achieve close to real-time dynamics performance for allowing the closed-loop testing of unmanned ground vehicles (UGV) for urban as well as off-road scenarios. The overall vehicle dynamics performance is governed by the multibody dynamics model for the vehicle, the wheel/terrain interaction dynamics and the onboard control system. The topic of this paper is the development of computationally efficient and accurate dynamics model for ground vehicles with complex suspension dynamics. In this paper, we describe the multibody dynamics modeling approach for our reference 4-wheeled vehicle, which has a double wishbone suspension and associated spring-damper unit at each wheel. Each of these wheel suspensions contains a number of articulated bodies with multiple kinematic closed loops. Despite the large number of internal degrees of freedom, due to the constraints, each suspension has only a single effective degree of freedom.