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

••Real-time simulation with multibody vehicle model is discussed.••An analysis method based on linearized constraint equations is proposed.••The main application of the proposed method is the vibration analysis.••The analysis speed was more than 20 times faster than rigorous multibody 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.