2020 年 86 巻 881 号 p. 19-00234
In this paper, a numerical integration method for real-time vehicle dynamics analysis with multibody technique is discussed. When the effect of the deformation of a rubber bush is considered in a multibody simulation, the rubber bush is usually defined as a force element with a high-stiffness property. In this case, the multibody vehicle model contains high frequency modes. As a result, the multibody vehicle model requires a small step size for the numerical integration. In this research, the real-time simulation with a multibody vehicle model was realized by the generalized-α scheme, which allows a dissipation of high-frequency modes with keeping the accuracy in low-frequency modes. In order to evaluate the influence of the parameter for the generalized-α scheme on the accuracy of an analysis result, the authors propose to derive a transition matrix from numerical simulation results. In addition, a methodology of choosing the parameter for a real-time simulation is also mentioned. It was confirmed that a stable real-time simulation with multibody vehicle model including the rubber bush properties can be performed with keeping high accuracy for low frequency modes by choosing a proper parameter according to the methodology.
