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The work described in this paper performs the modelling and simulation of a Canadian Jeep named Iltis using Multibody Systems modelling techniques. This vehicle is of military use in Canada and the data was provided by Prof. R.J. Anderson as part of the IAVSD road vehicle benchmarks. The equations of motion were obtained using the MBS equation generator SD/FAST. The simulation was performed with the general purpose simulation program ACSL. Analysis and pre and post processing was carried out with the matrix analysis package MATLAB. The paper discusses aspects related to computational performance of the equation generator and the simulation code. It also discusses vehicle behaviour as it performs various maneuvres. Quantities presented are equation complexity and cpu usage for the equation generation phase. Runtime is used to characterise simulation code performance.

This paper performs extensive analysis of complete manoeuvres of nonlinear vehicle model developed using Multibody Systems Techniques (MBS). This analysis is aimed at the study of integrated vehicle motion control, the paper discusses the theoretical properties of resulting linearised models which embraces all aspects of vehicle motion (performance, handling and ride). It also addresses the implication of this modelling technique to integrated control systems design. In this sense, it provides an effective link between MBS vehicle models and Control Theory. For this purposes it discusses the influence of the formulation and topology adopted in the MBS model on the resulting State space and Transfer function matrix representations of the system. This discussion includes the effects of the latter on the system structure such as eigenvalues, eigenvectors, and the elements of the A, B, C and D matrices. Also discussed are poles and zeros frequency response and the principal gains.

The work described in this paper performs the modelling and simulation of a 5-link suspension using multibody systems (MBS) modelling techniques. This suspension concept is used in the class-S Mercedes-Benz. but the numerical data do not correspond to any actual suspension built into their vehicles. The equations of motion were obtained using the MBS equation generator SD/FAST. The simulation was performed with the general purpose simulation program ACSL. Analysis and pre and post processing was carried out with the matrix analysis package MATLAB. The paper discusses aspects related to computational performance of the equation generator and the simulation code. It also discusses suspension behaviour due to its geometric characteristics. Quantities presented are equation complexity and cpu usage for the equation generation phase. Runtime is used to characterise simulation code performance.

The subject of this paper is the application of multibody system techniques for vehicle chassis modelling aimed at the development of integrated vehicle control. It realises that resulting models can be complex and that simplifications in chassis description is recommendable. For this purpose, it has developed a technique for representing suspension geometry effects which by taking the MBS structure into account, results in small and fast runtime simulation models. Yet, the model is capable of describing the full range of normal operation of the automotive vehicle. Using the previously developed model, comprehensive analysis of all aspects of vehicle motion is carried out. The objectives of such analysis is the determination of a driving envelope in which the use of linearised models of the nonlinear chassis can be justified for control analysis and design. Finally, the numerical and control theoretical properties of the linearised models are addressed.