2013 年 79 巻 798 号 p. 314-324
Recently, HILS(Hardware in the Loop Simulation) has been utilized in the industrial world for the improvement of the product quality. HILS system requires the real time simulation for the MBD model. Fujikawa proposed a dynamic response analysis technique using the domain decomposition method(DDM) connecting with the elastic elements. This technique ensures the numerical stability and the accuracy of the numerical calculation by introducing the iteration into the constant external force method in each time step. This paper proposes an improved domain decomposition method(IDDM) for more fast simulation of the actual flexible multibody dynamics. In the Fujikawa's technique, the predicted displacement was assumed to be the displacement of the connecting point. In the IDDM, Taylor developing is employed to the predicted displacement in order to reduce the iteration number. This paper also proposes the fast simulation technique of the IDDM for coupled system which consists of three subsystems with different frequency characteristics by employing different time step for each subsystem. It is clarified that the computing time using the IDDM can be reduced on the application for the dynamic simulation of the actual digging operations of the hydraulic excavator.