Real-time multibody application for tree harvester truck simulator

Baharudin, Mohamad Ezral; Rouvinen, Asko; Korkealaakso, Pasi; Mikkola, Aki

doi:10.1177/1464419314521182

Cited by 14 publications

(12 citation statements)

References 45 publications

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“…where u is model average, b is number of triangles, vertices of triangle i are shown by h i , l i and m i , and C jk is the correlated covariance matrix [21,25]. In a real-time environment, a realistic soil model plays an important role in the dynamics of mobile machinery.…”

Section: Collision and Soil Modelmentioning

confidence: 99%

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A Methodology for Product Development in Mobile Machinery: Case Example of an Excavator

2019

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Digital tools have become indispensable for the testing and modification of prototypes in mobile and industrial machine manufacturing. Data that are extracted from virtual experimentation and analysis are both affordable and valuable, due to their repeatability and because they are close to real-world observations. Expert knowledge is a prerequisite for full deployment of computer aided engineering tools in the design phase and concomitant stages of product development. Currently, such knowledge, for the most part, is provided by the product development team and the manufacturer. Yet, it is important that manufacturers and designers receive end-user feedback throughout the product development process. However, end-users often lack sufficient know-how about the technical and engineering background of the product development, and this lack of understanding can become a barrier to user-designer communication. The aim of this article is to present an alternative to traditional design approaches that is based on customized real-time multibody simulation. This simulation-based approach can be seen as a platform that has the potential to improve knowledge management systems for product development. End-user feedback to the designer is given in a systematic manner throughout the design process using a multipurpose XML-based multibody environment.

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Section: Collision and Soil Modelmentioning

confidence: 99%

“…where Φ z and Φ zt are Jacobians of the constraints with respect to the relative joint displacement vector and its first derivative, and matrix α contains values of the penalty term, as well as Ω and ξ, which are matrices for corresponding natural frequency and damping ratios of the penalty systems defined for each constraint condition [18,21,22].…”

mentioning

confidence: 99%

A Methodology for Product Development in Mobile Machinery: Case Example of an Excavator

2019

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“…During the last decades, multibody-based simulation tools have established themselves in industry as they allow rapid testing of mechanical systems without costly prototyping. With the increase in computational power at affordable prices, these tools have also achieved the real-time limit outside the realm of academic discussions; see, for example, [1,2]. However, in parallel with the maturity of this technology, the demand has risen for system-level simulation tools.…”

Section: Introductionmentioning

confidence: 99%

On the cosimulation of multibody systems and hydraulic dynamics

et al. 2020

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The simulation of mechanical devices using multibody system dynamics (MBS) algorithms frequently requires the consideration of their interaction with components of a different physical nature, such as electronics, hydraulics, or thermodynamics. An increasingly popular way to perform this task is through co-simulation, that is, assigning a tailored formulation and solver to each subsystem in the application under study and then coupling their integration processes via the discrete-time exchange of coupling variables during runtime. Co-simulation makes it possible to deal with complex engineering applications in a modular and effective way. On the other hand, subsystem coupling can be carried out in a wide variety of ways, which brings about the need to select appropriate coupling schemes and simulation options to ensure that the numerical integration remains stable and accurate. In this work, the co-simulation of hydraulically actuated mechanical systems via noniterative, Jacobi-scheme co-simulation is addressed. The effect of selecting different cosimulation configuration options and parameters on the accuracy and stability of the numerical integration was assessed by means of representative numerical examples.

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“…The model was validated by comparing it against experimental data from leveling and dynamic bump tests conducted on the tractor. Baharudin et al [3] demonstrated a combination of multibody system dynamics and hydraulics modeling for the real-time simulation of a hydraulically driven tree harvester. They utilized a semi-recursive formulation [4] for the dynamic modeling of the mechanical system and the lumped fluid theory [5] for modeling the hydraulic circuits.…”

Section: Introductionmentioning

confidence: 99%

“…Newton-Euler equations were used to establish the dynamic relationships between the digging capability of the bucket and the driving capability of the hydraulic cylinder. Of the studies [2], [3], [6], [7], [9], the hydraulics modeling utilized by Baharudin et al [3], Jaiswal et al [6], and Rahikainen et al [7] is applicable for real-time applications.…”

Section: Introductionmentioning

confidence: 99%

Deformable Terrain Model for the Real-Time Multibody Simulation of a Tractor With a Hydraulically Driven Front-Loader

Jaiswal

Korkealaakso²,

Åman

et al. 2019

IEEE Access

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A real-time multibody model of an off-road vehicle can be used to analyze the dynamics of tasks, such as loading and/or transferring material from deformable ground. This analysis requires an accurate description of the mechanics, hydraulic actuators, and the terrain. The objective of this paper is to introduce a novel, real-time capable, deformable terrain/soil model that can interact with the mechanics of a multibody system model and the dynamics of a hydraulics model. To this end, a tractor is modeled by using a semi-recursive multibody formulation based on velocity transformation. The hydraulic actuation of the tractor's front-loader is modeled by using the lumped fluid theory. The tractor loads and transfers sand material from a deformable sand field (the ground), which is modeled by combining mesh-based and particle-based soil representation approaches for the real-time simulation of soil deformation. The work cycle of the tractor model follows a 3D maneuver that is used to load and transfer sand material. During the digging and dumping operations, the static sand field is converted into sand particles and vice versa respectively. For the presented work cycle, the real-time capability of the system is analyzed and determined. Furthermore, the dynamic actuator forces in the hydraulic cylinders are compared with the static actuator forces. The introduced real-time capable tractor simulation model can be utilized in product development and other product processes. INDEX TERMSDeformable soil/terrain model, hydraulic actuators, multibody system dynamics, real-time simulation, semi-recursive formulation, vehicle dynamics.

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Real-time multibody application for tree harvester truck simulator

Cited by 14 publications

References 45 publications

A Methodology for Product Development in Mobile Machinery: Case Example of an Excavator

A Methodology for Product Development in Mobile Machinery: Case Example of an Excavator

On the cosimulation of multibody systems and hydraulic dynamics

Deformable Terrain Model for the Real-Time Multibody Simulation of a Tractor With a Hydraulically Driven Front-Loader

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