抄録
Recently, HILS (Hardware in the Loop Simulation) has been investigated in the field of the multibody dynamics (MBD). The fast calculation is necessary for the HILS system in order to require the real time simulation. This paper presents a fast simulation technique using the domain decomposition method. The domain decomposition method is widely used in the dynamic simulation for the mechanical system involving the hydraulic control system. This method is, however, not absolutely stable as the numerical integration. Fujikawa proposed a numerical stable solution scheme by introducing the iteration calculation. This paper applies the method to actual simulations of flexible multibody system in which the flexible linkage system and the hydraulic drive system are coupled with each other, and examines the speedup by parallel computing with the common memory in the calculation time. It is shown that using the present method in a multi-degrees-of freedom model can shorten the computing time. The present method is effective for the speedup in the calculation time by applying the dynamic simulation of the actual digging works on the hydraulic excavator.
