Implementation of the Omni Vehicle Dynamics on Modelica

Kosenko, I. I.; Gerasimov, Kirill

doi:10.3384/ecp140961143

Cited by 4 publications

(19 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For modeling and simulation of the rigid body dynamics with unilateral constraint we apply the technology described in [8]. So we could use in the object of contact a system of well known algebraic or implicit differential-algebraic equations.…”

Section: The Roller Modelmentioning

confidence: 99%

“…In our model being developed the "simple" law of the Amontons -Coulomb dry friction is applied. Actually we use known piecewise linear approximation [8] to exact dry friction instead. This approximation has high accuracy over long time intervals [9].…”

Section: The Roller Modelmentioning

confidence: 99%

“…This approximation has high accuracy over long time intervals [9]. In general, implementation of unilateral constraint model is based on the results outlined in [8].…”

Section: The Roller Modelmentioning

confidence: 99%

See 2 more Smart Citations

Omni vehicle dynamics model: Object-oriented implementation and verification

Kosenko¹,

Gerasimov²

2015

AIP Conference Proceedings

Self Cite

View full text Add to dashboard Cite

Omni wheel is de ned as one having rollers along its rim. Respectively omni vehicle is one equipped by omni wheels. Dynamical computer model for the omni vehicle multibody system is implemented as a two-layer abstraction (class) in frame of the object-oriented paradigm. For this initially, dynamics of the free roller moving in eld of gravity and having a unilateral contact constraint with horizontal rigid surface is modeled. The contact tracking algorithm for the roller turns out to be extremely simple and ef cient. On the next layer of the model structure the omni wheel model is developed and debugged. Finally, the whole vehicle model is assembled as a container class having arrays of objects as instantiated classes really being models of omni wheels and joints. Dynamical properties of the resulting model are illustrated via numerical experiments. Their results were used to verify the multibody vehicle model under construction in compare with its ideal simpli ed model having known behavior.

show abstract

Section: The Roller Modelmentioning

confidence: 99%

Section: The Roller Modelmentioning

confidence: 99%

See 1 more Smart Citation

Omni vehicle dynamics model: Object-oriented implementation and verification

Kosenko¹,

Gerasimov²

2015

AIP Conference Proceedings

Self Cite

View full text Add to dashboard Cite

show abstract

“…A construct of the omni vehicle (Ilon, 1975) dynamical model has been presented in (Kosenko and Gerasimov, 2014), see also papers (Kálmán, 2013;Tobolár et al, 2009). Simplified model for roller mounting on the wheel disk has been considered there: the roller axis of rotation assumed to be in the disk, or equivalently the angle between this axis and the wheel plane, denote it by ψ, is equal to zero.…”

Section: Introductionmentioning

confidence: 99%

“…Evidently if ψ = 0 then it is not the case. Thus, the contact tracking algorithm for the case of ψ = 0 implemented in (Kosenko and Gerasimov, 2014) turned out to be simple enough. In the case of ψ > 0 it becomes visibly complicated.…”

Section: Introductionmentioning

confidence: 99%

Dynamical Model of a Vehicle with Omni Wheels: Improved and Generalized Contact Tracking Algorithm

Kosenko

Stepanov

Gerasimov

et al. 2015

Linköping Electronic Conference Proceedings

Self Cite

View full text Add to dashboard Cite

A model of the multibody dynamics for an omni wheel assuming embedded in a frame of wider dynamical environment of the whole vehicle is under development and verification. Modelica base classes developed earlier for the multibody applications with contacts involving friction are used. Generalization has been performed for the model of contact tracking algorithm between roller and horizontal floor. Generalization includes non-zero angle between the roller axis of rotation and plane of the omni wheel. Contact tracking algorithm is implemented in two cases: (a) implicit and (b) explicit. Models for these cases (a) and (b) are currently "embedded" into the omni vehicle model earlier verified. For simplicity we analyze a multibody system comprising the wheel plus set of rollers being mounted along its circumference. A remainder of the vehicle is replaced by the wrench properly arranged in a way such that the wheel keeps its vertical orientation permanently. The performed computations have shown that two algorithms of the contact tracking generate completely identical dynamics of the whole multibody system.

show abstract

Mechanical Constraint Arrangement and Its Multibond Graph Representation

Kosenko¹

2021

9th Edition of the International Conference on Computational Methods for Coupled Problems in Science and Engineering

View full text Add to dashboard Cite

When developing a computer model of the multibody system (MBS) dynamics it is interesting to have a unified technology to construct the models in an efficient way. It turns out object-oriented approach provides a tools to resolve such a problem successively step by step. One of these unified ways is connected tightly with the so-called multiport representation of the models initially based on the bond graph use. These latter ones in turn based on the idea of energy exchanges, and substantially on energy conservation for physically interconnected subsystems of any engineering type.A detailed description of the multibond graph representation for the most general type of constraint is presented. It turned out the resulting total multibond graph model of the multibody system dynamics always has exactly a canonical junction structure. This representation has a tight correspondence with our previous object-oriented implementation of the mechanical constraint architecture.Computational experience makes it possible to classify objects of the multibody system dynamics. Such a model includes two classes of objects. They correspond to notions of "body" and "constraint". Each of these notions indeed corresponds to the certain type of the multibond graph junction.

show abstract

Implementation of the Omni Vehicle Dynamics on Modelica

Cited by 4 publications

References 4 publications

Omni vehicle dynamics model: Object-oriented implementation and verification

Omni vehicle dynamics model: Object-oriented implementation and verification

Dynamical Model of a Vehicle with Omni Wheels: Improved and Generalized Contact Tracking Algorithm

Mechanical Constraint Arrangement and Its Multibond Graph Representation

Contact Info

Product

Resources

About