Recursive Algorithm for Efficient Real-Time Simulation of Generic Drive-Train Systems

The goal of the study presented here was to develop a generic drive-system simulation model that operates in real time in pilot-in-the-loop training simulators. First the paper summarizes the governing equations of motion of a drive-train system consisting of flexible shafts, rotary inertia elements representing gears and gear contact elements representing torque transfers in matrix form. Then the paper presents in detail the explicit solution that handles the difficult problem of trimming the drive-train system, including losses due to flexible shaft damping and gear case damping. Finally, the recursive algorithm that efficiently executes the time domain simulation of the drive-system is described in detail. This method is similar to the well-known Articulated Body Method for simulation of general multi-body dynamics systems. Simulation results are presented for an example drive train. The execution time of the recursive method is compared with the traditional method of using the matrix equation of motion. Computational schemes for stability analysis are also presented.