Lighter than air (LTA) vehicles have many advantageous capabilities over other aircraft, including low power consumption, high payload capacity, and long endurance. However, they exhibit manoeuvrability and control reliability challenges, and these limitations are particularly significant for smaller unmanned LTA. In this thesis, a 4 m length autonomous airship with a sliding gondola is presented. A rigid keel, mounted to the helium envelope, follows the helium envelope profile from the midsection to the nose of the vehicle. Moving the gondola along the keel produces upwards of 90-degree changes in pitch angle, thereby improving manoeuvrability and allowing for rapid changes in altitude. The longitudinal multi-body equations of motion were developed for this prototype using the Boltzmann–Hamel method. An adaptive PID controller was then designed to control the pitch inclination using the gondola’s position. This control system is capable of self-tuning the controller gains in real time by minimizing a pre-defined sliding condition. Experimental flight tests were carried out to evaluate the controller’s performance on the prototype.

This thesis deals with design and implementation of the computing system, which would allow interactive simulation of kinematics and dynamics of vehicle mechanical systems or general mechanisms with the help of modern computer technology. In the thesis is described a basic working principle, optimization of numerical simulation parameters, as well as the implementation itself in the form of functional application and its key parts. Described are also possibilities for the use of virtual reality devices in conjunction with visualization of simulation process. Final comparative tests have confirmed the functionality and high performance of the created system.

This thesis presents the derivation of the dynamic model of an autonomous underwater vehicle that tows a large payload. Our analysis is motivated by the fact that the payload is so large that it cannot be modeled by simply appending its dynamics to the dynamics of the autonomous underwater vehicle. Hence, the coupling between the vehicle and payload must be fully modeled. Furthermore, several approximation techniques based on analytic and empirical formulations are investigated for computing the hydrodynamic coefficients of the vehicle. Efficacy and limitations of the approximation techniques are assessed by comparison with hydrodynamic coefficients that are estimated using high-fidelity computational fluid dynamics simulations. / Master of Science / This thesis presents the model to used to predict the motion of an autonomous underwater vehicle that tows a large object. Our analysis is motivated by the fact that the size of the object is so large that it will have a substantial impact on the motion of the vehicle, and likewise the vehicle will have a substantial impact on the object, requiring that the interaction between the two bodies to be fully modeled. The fluid forces and moments acting on the vehicle are approximated using techniques from hydrodynamic theory and experimental results. The accuracy of the approximation is assessed by comparing of the estimated forces and moments with those seen in high-fidelity simulations.

Physics engines become more and more common due to the rapid development and increasing demand of simulations. With this comes a need of testing the engine, a way to measure its performance, not only its speed but also its accuracy and stability. The purpose of this thesis has been to create a set of benchmark tests. They aim to check the physical aspects, especially mechanics, of the engine. A strategy and export functions for the test results in order to automate the testing have also been developed. The resulting tests became a beam on piles which analyses constraint stability, an overdetermined system consisting of a static door on multiple hinges, a falling object investigating the accuracy of the integrator, a box on an inclined plane for testing the friction model, a single pendulum as well as a multibody pendulum checking constraint accuracy and energy conservation, the Earth orbiting around the Sun which tests the stability of the integrator and finally a cantilever beam that is a static test of a real scenario. After the tests are performed the results are presented on an HTML-page. A prototype of a Web application is also established as well as a set of scalar tests that can be performed continuously, in order to follow trends or compare the engine's performance from time to time. This thesis was initialized by Algoryx Simulation AB which also provided the engine, AgX Dynamics, with the numerical method called SPOOK. It mainly performed well on all tests. In order to build a fully general toolbox more tests need to be added such as material interactions, scalable test with thousands of bodies, torque tests as well as more complex scenarios, for example a scissor lift and robots. The work can also be extended with more developed export functions, both to the Web and to documents. Hopefully this thesis can be seen as a complement to the earlier efforts done in creating a general set of benchmarks and automation framework for continuous integration and testing. / Fysikmotorer blir mer och mer vanliga på grund av den snabba utvecklingen och efterfrågan på simuleringar. I och med detta ökar också behovet av att testa motorerna och ett sätt att mäta prestandan, inte bara snabbheten utan också noggrannheten och stabiliteten. Syftet med detta examensarbete har varit att skapa ett set av prestandatester. De syftar till att testa de fysikaliska aspekterna av fysikmotorn, särskilt inom mekanik. En strategi och exportfunktioner för testresultaten för att automatisera testningen har också utvecklats. De resulterande testerna blev en balk på pålar som analyserar stabiliteten hos villkoren, ett överbestämt system bestående av en statisk dörr på flera gångjärn, ett fallande objekt som granskar precisionen hos integratorn, en låda på ett lutande plan som testar friktionsmodellen, en enkel pendel samt en flerkropppspendel som kontrollerar villkorsprecisionen och energikonservering, jordens bana runt solen som testar integratorns stabilitet och slutligen en utskjutande balk som är ett statiskt test av ett verkligt fall. När testerna är genomförda presenteras resultaten på en HTML-sida. En prototyp av en webb-applikation har också utvecklats samt ett set med skalära tester som kan utföras kontinuerligt för att följa upp trender och jämföra motorns prestanda över tid. Det här examensarbetet initierades av Algoryx Simulation AB som även tillhandahållit fysikmotorn, AgX Dynamics, med den numeriska metoden SPOOK. Motorn presterade överlag bra på testerna. För att bygga en allmän verktygslåda behövs fler tester så som interaktion mellan material, skalbara tester med tusentals kroppar samt mer komplexa simuleringar, t.ex. en saxlyft och robotar. Arbetet kan också utökas med mer utvecklade exportfunktioner, både mot webben och som dokument. Förhoppningsvis kan detta ses som ett komplement till de tidigare ansträgningar som gjorts för att skapa ett generellt set av prestandatester och ett automatiskt ramverk för kontinuerlig testning.

This work investigates the applicability of identification methods to the suspension parameters of a TGV multi-body model. The aim is to adjust the model to the real system by estimating the suspension parameters from measured vehicle response data. Due to the nonlinear behavior of the system the time-domain based model updating has been chosen. It requires the definition and minimization of a misfit function in the time domain describing the distance between model and measurement. The fastest convergence is obtained by the use of gradient methods requiring the calculation of the derivatives of the misfit function relative to every parameter. Since the calculation from finite differences is time consuming and less accurate the gradients are calculated from the adjoint method. The application to a simplified bogie model with known mathematical description allows the identification of its suspension parameters. The presence of local minima in the misfit function of the TGV model requires the use of global optimization methods. The simulated annealing and the genetic algorithm method give important reductions of the misfit function and improved parameter estimations. In following work this information could be used for further applications like the condition monitoring.

Nonlinear coupling problems between the multiple bodies or between the mooring/riser and the offshore platform are incorporated in the CHARM3D-MultiBody, a fully coupled time domain analysis program for multiple bodies with moorings and risers. The nonlinear spring connection module and the three dimensional beam module are added to appropriately solve the structural connection problem. The nonlinear spring connection module includes the hydro-pneumatic tensioner module with the friction & stick/slip implementation, the tendon/mooring disconnection (breakage/unlatch) module with the tendon down-stroke check, and the contact spring with the initial gap with the friction force implemented. The nonlinear coupling may happen in many places for the offshore floating structures, such as hydro-pneumatic tensioner, tendon of TLP down stroke at the bottom joint, stick-slip phenomena at the tie down of the derrick and most of the fender-to-steel or steel-to-steel contact problem with initial gap during the installation. The mooring/tendon broken and unlatch can be a nonlinear connection problem once the transient mode is taken into account. Nonlinearity of the stiffness and friction characteristics of the tensioner combined with stick-slip behavior of riser keel joint is investigated. The relationship between tensions and strokes for hydro-pneumatic tensioner is based on the ideal gas equation where the isotropic gas constant can be varied to achieve an optimum stroke design based on tensioner stiffness. A transient effect of tendon down-stroke and disconnection on global performance of ETLP for harsh environmental condition is also investigated by incorporating the nonlinear boundary condition of the FE tendon model in CHARM3D. The program is made to be capable of modeling the tendon disconnection both at the top and the bottom connection as well as the down stroke behavior for the pinned bottom joint. The performance of the tie-down clamp of derrick is also investigated by using six degrees of freedom spring model and the three(3) dimensional FE beam model. The coupling of the TLP motion with the reaction force at the tie-down clamp is considered by using exact nonlinear dynamic equations of the motion with the reaction forces modeled with the spring or FE beam model. The method reduces too much conservatism when we design the tie-down system by the conventional method, in which all the environmental forces are combined without the phase lag effect between them. The FE beam model is also applied to the connectors between the semisubmersible and the truss for the pre-service and in-place conditions to be verified with the model test results, which shows good agreements.

The thesis investigates control system integration in ADAMS and the thesis presents appropriate knowledge related to the topic as multi body system, acting forces between road and wheels, equation of motion regarding to the haulers, traction control system and differential locks. The emphasis of the thesis is to implement and test the automatic traction control (ATC) for the hauler into ADAMS and Simulink models. The ATC models are based on certain requirements provided by Volvo Construction Equipment. As expected, results indicate that the ATC model operates during simulation for various road conditions. Nevertheless, the ATC model includes a few defects which are observed in results. The significant achievement of the thesis is a great collaboration between ADAMS and Simulink model.

This diploma thesis is focused on Formula Student upright analysis using final element method. The main goal is to review an effect of different boundary conditions on stress and deformation. Nowadays, the topologic optimization is a commonly used tool for design process of the upright, to create the lightest and the most rigid design possible. Boundary conditions, which should approximate reality really well, are one of inputs to topological optimization.

Indiana University-Purdue University Indianapolis (IUPUI) / Indiana University–Purdue University Indianapolis student team Jaguar has been participating in the electric Formula SAE (FSAE) vehicle competitions in the past few years. There is an urgent need to develop a design tool for improving the performance of the vehicle. In this thesis, multibody dynamics (MBD) models have been developed which allow the student team to improve their vehicle design, while reducing the required time and actual testing costs. Although there were some studies about MBD analyses for vehicles in literature, a detailed modeling study of key parameters is still missing. Specifically, the effect of suspension system on the vehicle performance is not well studied. The objective of the thesis is to develop an MBD based model to improve the FSAE vehicle’s performance. Based on the objective and knowledge gap, the following research tasks are proposed: (1) MBD modeling of current suspension systems; (2) Modification of suspension systems, and (3) Evaluation of performance of modified suspension systems. The models for the front suspension system, rear suspension system, and full assembly are created, and a series of MBD analyses are conducted. The parameters of the vehicle by conducting virtual tests on the suspension model and overall vehicle model are studied. In this work, two main virtual tests are performed. First, parallel wheel travel test on suspension system, in which the individual suspension system is subject to equal force on both sides. The test helps understand the variation in stability parameters, such as camber angle, toe angle, motion ratio, and roll center location. Second, skid-pad test on full assembly of the vehicle. The test assists in understanding the vehicle’s behavior in constant radius cornering and the tire side slip angle variation, as it is one of the important parameters controlling alignment of the vehicle in this test. Based on the vehicle’s dynamics knowledge obtained from the existing vehicle, a modified version of the FSAE vehicle is proposed, which can provide a better cornering performance with minimum upgrades and cost possible. Based on the results from the parallel wheel travel test and skid-pad test, the lateral load transfer method is used to control the vehicle slip, by making changes to the geometry of the vehicle and obtaining appropriate roll center height for both front and rear suspension system. The results show that the stiffness in front suspension system and rear suspension system are controlled by manipulating roll center height. This study has provided insightful understanding of the parameters and forces involved in suspension system and their variations in different events influencing vehicle stability. Moreover, the MBD approach developed in this work can be readily extended to other commercial vehicles and sports vehicles.

Yes / Braking-induced forced vibration, known as brake judder in road vehicles, causes dissatisfaction to drivers and passengers and also damage and possible early failure in components and systems. In this paper, the transmission of judder vibration from the point of generation (the brake friction pair) through the vehicle structure to the driver is investigated for the particular case of a heavy commercial vehicle. The investigation uses a computer simulation multi-body dynamic model based on the automatic dynamic analysis of mechanical systems software to identify any characteristics of the vehicle suspension design that might influence the vibration transmission from the wheel to the driver. The model uses a simplified rigid chassis and cab to lump the chassis parameters, so that the investigation can focus on the front axle/suspension design, which is a beam axle leaf spring arrangement, and the rear axle/suspension assembly, which is a tandem axle bogie design. Results from the modelling indicate that brake judder vibration is transmitted to the chassis of the vehicle through a leaf spring `wind-up¿ mode and a `walking¿ mode associated with the rear tandem axle. Of particular interest is the longitudinal vibration transmitted through the chassis, since this creates a direct vibration transmission path to the cab and driver. The simulation results were compared with the previously published experimental work on the same design of commercial vehicle, and agreement between the predicted and the measured vibration characteristics and frequencies was found. It is concluded that the rear suspension design parameters could affect the transmission of brake judder vibration to the cab and driver and that a tandem rear axle offers some design opportunity to control the transmission of brake judder vibrations from the wheel to the cab and driver. Given that brake judder has so far defied all attempts to eliminate completely from vehicle brake systems, this is potentially an important opportunity.