In this paper, the performance of the real-time multibody dynamic simulation with linearized constraint equation is discussed. It is well known that a small step size of numerical integration is required for the simulation of a system with high stiffness elements such as a rubber bush or a system with high frequency phenomena. The amount of the calculation can be reduced by linearizing the constraint equation of the system, and a real-time multibody dynamic analysis with smaller step size of numerical integration can be realized. On the other hand, it is important to understand how much accuracy was lost by the linearization. In this study, we compared the real-time simulation result with the linearized and the non-linearized multibody model in the case of the vehicle dynamic simulation. The calculation speed was evaluated on a real-time analysis environment, and the accuracy of the simulation result was examined.
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