Comparison of linearized vs. non-linearized multibody vehicle model for real-time simulation

The performance of a real-time multibody dynamics simulation using linearized constraint equations is discussed. It is known that a small step size is required to simulate a system with very stiff elements such as rubber bushes or a system with high frequency phenomena. Calculation time can be reduced by linearizing constraint equations, and high-speed multibody dynamic analysis with a smaller step size is realized. It is important to acknowledge the degree of accuracy lost when linearized constraint equations are used. We compare linearized and non-linearized simulation models using a model of an actual vehicle and ISO-8608 road profile classifications. Calculation time is evaluated in a real-time analysis environment, and the accuracy of the simulation result is examined. (C) 2013 Elsevier Ltd. All rights reserved.