Computationally Efficient Coupling of Multibody Dynamics and Hydraulic Actuators in Simulating Hydraulic Machinery
Suraj Jaiswal, Lauri Pyrhönen, Aki Mikkola
Abstract
Hydraulic machinery is a mechatronic system that is widely used in various industries such as the mining, forest, and construction industries. Computer simulation of hydraulic machinery is crucial because it can be used to affect almost everything from operational activities to the designs and features. The objective of this article is to monolithically couple multibody dynamics and hydraulic actuators by utilizing semianalytical and numerical methods of computing the system Jacobian in the framework of relative coordinates. The novel contribution of this article is the semianalytical method, whereas the numerical method is taken from the literature. To this end, a simulation model of a log crane is demonstrated as a case example. Here, the mechanical subsystem is described using an index-3 augmented Lagrangian-based semirecursive method and the hydraulic subsystem is described using the lumped fluid method. The effectiveness of the proposed method is demonstrated by comparing the simulation accuracy, energy balance, constraint violation, and computational efficiency. It is concluded that the proposed semianalytical method is accurate and computationally efficient in comparison with the numerical method.