Abstract
The paper presents models of car dynamics with varying complexity. Joint coordinates and homogenous transformations are used to model the motion of a car. Having formulated the models of the car, we discuss the influence of the complexity of the model on numerical efficiency of integrating the equations describing car dynamics. Methods with both constant and adaptive step size have been applied. The results of numerical calculations are presented and conclusions are formulated.
Highlights
From the mechanical point of view, vehicles are complex multibody systems with the treelike structures
Having formulated the models of the car, we discuss the influence of the complexity of the model on numerical efficiency of integrating the equations describing car dynamics
Their modelling has to take into account the complex structure of kinematic chains and flexibility of some elements and joints, friction in joints, and sophisticated relations that describe the forces acting on the wheels from the road surface
Summary
From the mechanical point of view, vehicles are complex multibody systems with the treelike structures. The most complex models of a car may consist of very many subsystems, the motion of which can be described by a large number of degrees of freedom. These models allow structural models of suspensions and drive systems of a car to be taken into consideration. The models are formulated using absolute coordinates and special professional software with a large scale of generality (e.g., MSC Adams, DADS, SIMPACK) [1]. Such calculation models are very time-consuming, and require a large amount of specific data.
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