A1 Journal article (refereed), original research

Computationally efficient approach for simulation of multibody and hydraulic dynamics

Publication Details
Authors: Rahikainen Jarkko, Kiani Mehran, Sopanen Jussi, Jalali Payman, Mikkola Aki
Publisher: Elsevier
Publication year: 2018
Language: English
Related Journal or Series Information: Mechanism and Machine Theory
Volume number: 130
Start page: 435
End page: 446
Number of pages: 12
ISSN: 0094-114X
eISSN: 1873-3999
JUFO-Level of this publication: 1
Open Access: Not an Open Access publication

A realistic real-time simulation of a complex system, such as an
excavator, requires detailed description of the machinery and its
components. To take into account the dynamics of entire systems, the
model must encompass descriptions of non-mechanical systems, such as
hydraulics. For the multibody systems, use of the semi-recursive methods
has often been found to be the most efficient solution when the system
size increases. For the hydraulic dynamics, in turn, the recently
introduced application of the singular perturbation method is a
potential candidate for the real-time applications. The main benefit of
the application of the singular perturbation method over the
conventionally used lumped fluid method is that it overcomes the
challenges that the lumped fluid method encounters when numerical
stiffness caused by small hydraulic volumes is present in the circuit.
Objective of this paper is to improve a recently proposed monolithic
formulation for the combined simulation of multibody and hydraulic
dynamics via the introduction of the singular perturbation method.
Results indicate that the proposed method improves efficiency and
robustness when compared to the formulation proposed earlier.

Last updated on 2019-13-03 at 12:00