2013 年 79 巻 806 号 p. 3315-3326
In this paper, the enhancement of the reality in a steering torque simulator with a multibody vehicle model was discussed. From the perspective of the calculation speed, the augmented formulation and the penalty method were investigated as the formulation of the multibody dynamic analysis, and the step size of the real-time analysis was shortened by embedding matrix libraries to the multibody dynamic analysis. In addition, the friction characteristic of the steering rack of an actual vehicle was experimentally evaluated in order to enhance the reality of the developed simulator. The friction model was identified on the basis of the experimental result and was applied to the multibody dynamic analysis. A slalom test was conducted with the developed simulator and was compared with the experiment of an actual vehicle.