Intelligent simulation of multibody dynamics: Space-state and descriptor methods in sequential and parallel computing environments

Real-time dynamic simulation of large, realistic and complex multibody syst ems is essential in developing modern technologies such as virtual prototyp ing, man-in-the-loop simulators and intelligent vehicle control systems. In order to achieve real-time performance, current commercial codes require t he use of large costly computers, thus limiting the number of potential use rs. This paper shows that real-time can be achieved on medium-size workstations if, on the one hand, an adequate combination of modeling, dynamic formulat ion, and numerical integration scheme is selected and, on the other hand, a dvantage is taken of sparse matrix technology and parallel computing. A stu dy of space-state and descriptor methods involving the dynamics of a whole vehicle model is carried out and in conclusion, two methods are proposed as the best candidates for real-time simulation.