<p>In this thesis, an explicit time integration code which integrates multibody dynamics (MBD) and the discrete element method (DEM) is validated using three previously published steady-state physical experiments for non-cohesive sand-type material, namely: shear-cell for measuring shear stress versus normal stress; penetroplate pressure-sinkage test; and wheel drawbar pull-torque-slip test. The test results are used to calibrate the material properties of the DEM soft soil model and validate the coupled MBD-DEM code. All three tests are important because each test measures specific mechanical characteristics of the soil under various loading conditions. Shear strength of the soil as a function of normal load help to understand shearing of the soil under a vehicle wheel contact patch causing loss of traction. Penetroplate pressure-sinkage test is used to calibrate and validate friction and shear strength characteristics of the soil. Finally the rigid wheel-soil interaction test is used to predict drawbar pull force and wheel torque vs. slip percentage and normal stress for a rigid wheel. Wheel-Soil interaction test is important because it plays the role of ultimate validation of the soil model tuned in the previous two experiments and also shows how the soil model behaves in vehicle mobility applications.</p> <p><br></p> <p>All the aforementioned tests were modeled in the multibody dynamics software using rigid bodies and various joints and actuators. The sand-type material is modeled using discrete cubical particles. A penalty technique is used to impose normal contact constraints (including particle-particle and particle-wall contact). An asperity-based friction model is used to model friction. A Cartesian Eulerian grid contact search algorithm is used to allow fast contact detection between particles. A recursive bounding box contact search algorithm enabled fast contact detection between the particles and polygonal body surfaces (such as walls, penetrometer, and wheel). The governing equations of motion are solved along with contact constraint equations using a time-accurate explicit solution procedure. The results show very good agreement between the simulation and the experimental measurements. The model is then demonstrated in a full-scale application of high-speed off-road vehicle mobility on the sand-type soil.</p>

Computational efficiency of solving the dynamics of highly oscillatory systems is an important issue due to the requirement of small step size of explicit numerical integration algorithms. A system is considered to be highly oscillatory if it contains a fast solution that varies regularly about a slow solution. As for multibody systems, stiff force elements and contacts between bodies can make a system highly oscillatory. Standard explicit numerical integration methods should take a very small step size to satisfy the absolute stability condition for all eigenvalues of the system and the computational cost is dictated by the fast solution. In this research, a new hybrid integration scheme is proposed, in which the local linearization method is combined with a conventional integration method such as the fourth-order Runge-Kutta. In this approach, the system is partitioned into fast and slow subsystems. Then, the two subsystems are transformed into a reduced and a boundary-layer system using the singular perturbation theory. The reduced system is solved by the fourth-order Runge-Kutta method while the boundary-layer system is solved by the local linearization method. This new hybrid scheme can handle the coupling between the fast and the slow subsystems efficiently. Unlike other multi-rate or multi-method schemes, extrapolation or interpolation process is not required to deal with the coupling between subsystems. Most of the coupling effect can be accounted for by the reduced (or quasi-steady-state) system while the minor transient effect is taken into consideration by averaging. In this research, the absolute stability region for this hybrid scheme is derived and it is shown that the absolute stability region is almost independent of the fast variables. Thus, the selection of the step size is not dictated by the fast solution when a highly oscillatory system is solved, in turn, the computational efficiency can be improved. The advantage of the proposed hybrid scheme is validated through several dynamic simulations of a vehicle system including a flexible tire model. The results reveal that the hybrid scheme can reduce the computation time of the vehicle dynamic simulation significantly while attaining comparable accuracy.

Recentemente, uma mudança de paradigma vem impactando toda a engenharia e manufatura na forma de se planejar, projetar, testar e construir produtos. A forma mais tradicional de desenvolvimento, que se caracterizava pelo processo seriado de múltiplos ciclos de design-construção-teste, vem sendo substituída gradativamente por processos de desenvolvimento guiados por simulação computacional. Decorrentes disso, os primeiros protótipos físicos são freqüentemente capazes de atingir os objetivos quando testados. Esta mudança, chamada também de projeto baseado em simulação, permite reduzir drasticamente o tempo de desenvolvimento de produtos e trazer a inovação para o mercado. Este trabalho apresenta uma forma computacional, via técnica de multicorpos, para se analisar a dinâmica de uma lavadora de eixo vertical. É proposto um protótipo virtual no software ADAMS, para estudo dinâmico de uma lavadora durante o processo crítico de centrifugação. O modelo virtual é posteriormente confrontado com dados experimentais, para sua validação. Uma extensa pesquisa bibliográfica foi realizada, com a intenção de capturar as técnicas mais usuais de modelamento e estudo dinâmico em lavadoras, bem como de compreender melhor o papel de seus componentes durante o processo crítico de centrifugação. / Recently a paradigm shift has impacted the engineering and manufacturing in the way of planning, designing, testing and building products. The most traditional way of product development, characterized by multiple cycles of design-build-test, has been substituted by a process based on computational simulation, where the first physical prototypes are capable of delivering the desired performance. This new way of developing products is called simulation based design and allows organizations to reduce drastically the product lead time and bring innovation to the market. This work presents a computational way to analyze the dynamic behavior of a top load washing machine using multibody system (MBS). It\'s proposed a virtual prototype developed in the ADAMS software, for dynamic study of a commercial washing machine during spin cycle. The virtual model is compared to experimental data for validation. An extensive research in the literature has been done in order to find the most usual ways of modeling and analyzing washing machine dynamics during spin.

Recentemente, uma mudança de paradigma vem impactando toda a engenharia e manufatura na forma de se planejar, projetar, testar e construir produtos. A forma mais tradicional de desenvolvimento, que se caracterizava pelo processo seriado de múltiplos ciclos de design-construção-teste, vem sendo substituída gradativamente por processos de desenvolvimento guiados por simulação computacional. Decorrentes disso, os primeiros protótipos físicos são freqüentemente capazes de atingir os objetivos quando testados. Esta mudança, chamada também de projeto baseado em simulação, permite reduzir drasticamente o tempo de desenvolvimento de produtos e trazer a inovação para o mercado. Este trabalho apresenta uma forma computacional, via técnica de multicorpos, para se analisar a dinâmica de uma lavadora de eixo vertical. É proposto um protótipo virtual no software ADAMS, para estudo dinâmico de uma lavadora durante o processo crítico de centrifugação. O modelo virtual é posteriormente confrontado com dados experimentais, para sua validação. Uma extensa pesquisa bibliográfica foi realizada, com a intenção de capturar as técnicas mais usuais de modelamento e estudo dinâmico em lavadoras, bem como de compreender melhor o papel de seus componentes durante o processo crítico de centrifugação. / Recently a paradigm shift has impacted the engineering and manufacturing in the way of planning, designing, testing and building products. The most traditional way of product development, characterized by multiple cycles of design-build-test, has been substituted by a process based on computational simulation, where the first physical prototypes are capable of delivering the desired performance. This new way of developing products is called simulation based design and allows organizations to reduce drastically the product lead time and bring innovation to the market. This work presents a computational way to analyze the dynamic behavior of a top load washing machine using multibody system (MBS). It\'s proposed a virtual prototype developed in the ADAMS software, for dynamic study of a commercial washing machine during spin cycle. The virtual model is compared to experimental data for validation. An extensive research in the literature has been done in order to find the most usual ways of modeling and analyzing washing machine dynamics during spin.

En este trabajo se ha llevado a cabo el desarrollo de una herramienta computacional para la simulación dinámica de vehículos ferroviarios. El modelo está basado en técnicas multicuerpo debidas a Shabana. Con respecto a otras metodologías existentes, la propuesta hace uso de un conjunto de sistemas de referencia que permite el empleo de coordenadas independientes sin la posibilidad de configuraciones singulares debidas a grandes giros. El conjunto de sistemas de referencia sirve de base para formular de manera precisa el problema de contacto rueda-carril. El programa está diseñado para considerar de forma flexible distintas configuraciones de vehículo así como diversas geometrías de trazado. La estructura del programa está abierta a cambios orientados a la mejora del modelo de contacto rueda-carril o a la implementación de la dinámica estructural de la vía. Se ha implementado un modelo eficiente que permite detectar con precisión las coordenadas de los puntos en contacto localizados en la interfase entre la rueda y el carril. La herramienta de simulación desarrollada en esta tesis se ha aplicado para diferentes casos-estudio con el objetivo de validar la idoneidad de la metodología propuesta en el análisis del sistema ferroviario. Se ha realizado una comparación entre los resultados obtenidos por la herramienta de simulación presentada y los resultados ofrecidos por varios programas comerciales de simulación dinámica en el análisis del vehículo de Manchester Benchmark. Además, la herramienta se ha empleado para desarrollar un análisis dinámico del vehículo de la locomotora TGV y los resultados obtenidos se han comparado con los ofrecidos por el programa comercial SIMPACK para el mismos modelo de vehículo, bajo las mismas condiciones de operación. Finalmente, sobre la base de la calidad de los resultados, se puede concluir que la herramienta de simulación es fiable y eficiente para emplearse en el análisis dinámico de los diferentes sistemas ferroviarios. / Elsayed Abdel Hameed Amer Shaltout, R. (2013). MULTIBODY APPROACH FOR RAILWAY DYNAMIC ANALYSIS [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/27622 / TESIS