Title: Equations of motion for one-dimensional structure variable multibody systems in mechatronic real time applications

Authors: E. Pankiewicz, J. Schuller

Addresses: BMW Group, Electric / Electronics Division, 80788 Munich, Germany. BMW Group, Electric / Electronics Division, 80788 Munich, Germany

Abstract: For multibody systems with clutches and brakes, the number of mechanical degrees of freedom reduces, when the clutches or brakes are engaged. For the conventional description of the system, 2k multibody structures are necessary, where k is the number of clutches and brakes. Furthermore, the exact calculation of the stick-or-slip-stage of the clutches and breaks lead to numeric iteration. This numeric iteration is not applicable in real time simulations. In this paper, a method will be shown which avoids the problem of one-dimensional structure variable systems by using a compact description of the multibody system representing all possible structures.

Keywords: real time simulation; structure variable multibody systems; clutches and brakes; automatic generation of equations of motion.

DOI: 10.1504/IJVD.2002.001979

International Journal of Vehicle Design, 2002 Vol.28 No.1/2/3, pp.68-83

Published online: 15 Aug 2003 *

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