Modular Multibody Approach for Real-Time Simulation of Vehicle-Trailer Combinations

Paper #:
  • 2010-01-0720

Published:
  • 2010-04-12
Citation:
Liem, K., Peperhowe, M., and Haupt, H., "Modular Multibody Approach for Real-Time Simulation of Vehicle-Trailer Combinations," SAE Technical Paper 2010-01-0720, 2010, https://doi.org/10.4271/2010-01-0720.
Pages:
8
Abstract:
Hardware-in-the-loop (HIL) simulation in the development and test process of vehicle dynamics controllers requires a real-time tractor-trailer simulation model. The hitch coupling must be numerically stable to ensure real-time simulation for various driving maneuvers, particularly at the vehicle's handling limits. This paper presents a robust implementation of tractor-trailer coupling. The equation of motion is formed using a novel formulation which is a combination of Jourdain's Principle and the Articulated Body Algorithm. The paper shows that a robust model for a real-time tractor-trailer simulation can be achieved with the proposed method. Moreover, the approach presented is suitable for modular modeling, is successfully implemented and can also be used as a basis for flexible system definition with an adjustable number of trailer axles.
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