マルチボディ車両モデルを用いた並列計算によるリアルタイム解析

抄録

Multibody system dynamics is an effective method to reduce the cost and the period in the development of mechanical products. Recently, multibody vehicle models are used for some applications of real-time simulation such as a driving simulator and a hardware-in-the-loop simulation system. In multibody system analysis, the constraints between bodies are expressed with algebraic equations. The algebraic equations are solved with the equation of motion to obtain the acceleration, the velocity and the displacement of multibody systems. In this study, a formulation for parallel computing of a multibody system is proposed for real-time simulation. The parallel computing improves the performance of the calculation by separating the calculation process and conducting each of the processes at the same time. The performance of the proposed method was examined in the real-time simulation with a multibody vehicle model.