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A Multibody Dynamics Program for Truck Simulation
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English
Abstract
This paper presents the application of a multibody formulation program to generating equations of motion for commercial vehicles. The formulation procedure adopts the separated-form virtual work principle. Equations are expanded using generalized coordinate partitioning through a Jacobian matrix expansion. The inertia force vector is separated into nonlinear, linear and time-dependent terms, and the generalized force vector is derived from virtual energies. Friction forces are included in the formulation. Nonlinear and linearized models are provided in a symbolic FORTRAN form allowing the control design be implemented with second-order or first-order equations. A fourth-fifth order Runge-Kutta-Fehlberg's algorithm with self-adjustable step sizes is utilized to numerically integrate the reduced systems. An example, a six-axle tractor-semitrailer model is demonstrated.
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Citation
Lieh, J., "A Multibody Dynamics Program for Truck Simulation," SAE Technical Paper 942303, 1994, https://doi.org/10.4271/942303.Also In
Heavy Vehicle Dynamics and Simulation in Braking, Steering, and Suspension Systems
Number: SP-1059; Published: 1994-11-01
Number: SP-1059; Published: 1994-11-01
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