@inproceedings{Rill, author = {Rill, Georg}, title = {Real-Time capable Multibody Model of dual Truck Front Axles}, series = {Proceedings of DINAME 2023 - Selected Papers of the XIX International Symposium on Dynamic Problems of Mechanics, 26 Feb - 03 Mar 2023, Piren{\´o}polis, Brazil}, booktitle = {Proceedings of DINAME 2023 - Selected Papers of the XIX International Symposium on Dynamic Problems of Mechanics, 26 Feb - 03 Mar 2023, Piren{\´o}polis, Brazil}, editor = {Fleury, Agenor de T.}, publisher = {Springer}, abstract = {Dual front steering axles are quite common in multi-axled heavy duty trucks. In standard layouts of such axle combinations, the steer motions of the wheels depend not only on the rotation of the steering wheel but also on the movements of the axles. As a consequence, the model complexity of the steering system should match with the complexity of the suspension model. The development of new technologies like advanced driver assistance systems or autonomous driving can only be accomplished efficiently using extensive simulation methods. Such kind of applications demand for computationally efficient vehicle models. This paper presents a steering system model for dual front axles of heavy duty trucks which supplements the suspension model of the axles. The model takes the torsional compliance of the steering column as well as the stiffness of the tie rods and the coupling rod into account. A quasi-static solution provides a straight forward computation including the partial derivatives required for an efficient implicit solver. The steering system model matches perfectly with comparatively lean, but sufficiently accurate multibody suspension models.}, language = {en} } @article{HirschbergRillWeinfurter, author = {Hirschberg, Wolfgang and Rill, Georg and Weinfurter, H.}, title = {Tire model TMeasy}, series = {Vehicle System Dynamics}, volume = {45}, journal = {Vehicle System Dynamics}, number = {sup1}, publisher = {Taylor\&Francis}, doi = {10.1080/00423110701776284}, pages = {101 -- 119}, abstract = {This paper describes the semi-physical tire model TMeasy for vehicle dynamics and handling analyses, as it was applied in the 'low frequency tire models' section of the research programme tire model performance test (TMPT). Despite more or less weak testing input data, the effort for the application of TMeasy remains limited due to its consequent 'easy to use' orientation. One particular feature of TMeasy is the wide physical meaning of its smart parameter set, which allows to sustain the identification process even under uncertain conditions. After a general introduction, the modelling concept of TMeasy is compactly described in this paper. Taking the standard tire interface (STI) to multibody simulation system (MBS) software into account, the way to apply TMeasy is briefly shown. This includes three selected examples of application. The final comments of the authors on TMPT describe the experiences and earnings received during the participation in that programme.}, language = {en} } @inproceedings{HacklHirschbergLexetal., author = {Hackl, Andreas and Hirschberg, Wolfgang and Lex, Cornelia and Rill, Georg}, title = {Experimental validation of the Maxwell model for description of transient tyre forces}, series = {16. Internationales Stuttgarter Symposium, Automobil- und Motorentechnik}, booktitle = {16. Internationales Stuttgarter Symposium, Automobil- und Motorentechnik}, editor = {Bargende, Michael and Reuss, Hans-Christian and Wiedemann, Jochen}, publisher = {Springer}, address = {Wiesbaden}, isbn = {978-3-658-13254-5}, doi = {10.1007/978-3-658-13255-2_29}, pages = {401 -- 418}, abstract = {Modelling and simulation of safety relevant Driver Assistance Systems (DAS) and Vehicle Dynamics Controllers (VDC) which act in standard and limit situations lead to increasing accuracy demands in the description of dynamic reactions of tyre contact forces, e.g. For that purpose, first-order approaches are widely applied in this field of vehicle dynamics and handling, which originate from Schlippe \& Dietrich, were modified by Pacejka and later on refined by Rill.}, language = {en} } @inproceedings{HacklHirschbergLexetal., author = {Hackl, Andreas and Hirschberg, Wolfgang and Lex, Cornelia and Rill, Georg}, title = {Tyre type dependent transient force behaviour by means of a maxwell model}, series = {The Dynamics of Vehicles on Roads and Tracks : Proceedings of the 25th Symposium of the International Association of Vehicle System Dynamics (IAVSD 2017), Rockhampton, Queensland, Australia, 14-18 August 2017}, booktitle = {The Dynamics of Vehicles on Roads and Tracks : Proceedings of the 25th Symposium of the International Association of Vehicle System Dynamics (IAVSD 2017), Rockhampton, Queensland, Australia, 14-18 August 2017}, editor = {Spiryagin, Maksym and Gordon, Timothy and Cole, Colin and McSweeney, Tim}, publisher = {CRC Press}, address = {London}, isbn = {1351057170}, doi = {10.1201/9781315265506}, pages = {157 -- 162}, abstract = {The present papers deals with the usability of an extended Maxwell model to describe the tyre dynamics during transient driving manoeuvres. In the present article, the para-metrisation process of a dynamic tyre model is investigated in a first step, using measurement data of tyre forces from a flat trac tyre test bench, (IABG 2016). Two tyre types of dimensions 255/50 R19 and 175/55 R15 are used. The practical applicability is discussed, considering the measurement procedure and the parameter optimisation process. In a second step, the performance of the dynamic tyre model is validated using measurements of manoeuvres under higher dynamic excitation. As a last step, an outlook is given on further research planned in which the presented model and parametrisation are adapted to a larger frequency range.}, language = {en} } @techreport{Rill, type = {Working Paper}, author = {Rill, Georg}, title = {Second-Order Dynamic Friction Model Goes Bi-Dimensional}, address = {Regensburg}, doi = {10.35096/othr/pub-8079}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:898-opus4-80791}, pages = {17}, abstract = {Dynamic friction models can handle not only slip-stick-slip transitions but also stick as long as the external load does not exceed the friction limit. The recently developed second-order dynamic friction model (FrD2) uses two internal states. It models standard friction characteristics by a smooth analytical function, which includes the Stribeck effect and also a viscous component. A horizontal shift of the regularized friction characteristics provides non-vanishing friction forces required to keep stick. Unlike the well-known LuGre model, the FrD2 model reproduces predefined friction characteristics very accurately and shows no drift under pulsating loads. This paper shows how to extend FrD2 to its bi-dimensional version FrD2bd.}, language = {en} } @techreport{Rill, type = {Working Paper}, author = {Rill, Georg}, title = {Second-Order Dynamic Friction Model In Three-Dimensional Applications}, address = {Regensburg}, doi = {10.35096/othr/pub-8428}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:898-opus4-84288}, pages = {14}, abstract = {The second-order dynamic friction model (FrD2) is a reliable alternative to the LuGre model. It can compete with commercial friction models and has been successfully tested in standard one- and two-dimensional friction problems. The FrD2 approach is based on a fictitious bristle with a fictitious mass that automatically adjusts to viscoelastic properties. The FrD2 model approximates standard friction characteristics using a smooth analytical function that incorporates the Stribeck effect and a viscous component. The two-dimensional FrD2 version enables users to specify different bristle and friction properties in each direction. This working paper demonstrates how to apply the FrD2 model to three-dimensional friction problems, such as distributed contacts and ball joints.}, language = {en} } @techreport{Rill, type = {Working Paper}, author = {Rill, Georg}, title = {Second-Order Dynamic Friction Model (FrD2) in a Nutshell}, doi = {10.35096/othr/pub-8077}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:898-opus4-80770}, pages = {9}, abstract = {The well-known LuGre friction model generates dynamic friction forces. This force results from the approximation of the dynamics of a massless fictitious bristle. However, it has several drawbacks and fails to reproduce predefined friction characteristics. The second-order dynamic friction model (FrD2) avoids these drawbacks and accurately reproduces friction characteristics. The FrD2 model is based on a fictitious bristle whose mass automatically adapts to visco-elastic bristle properties. The FrD2 model describes friction characteristics using piecewise-defined analytical functions and applies shifted regularization, which allows for smooth handling of stick-slip transitions. FrD2 parameters can easily be derived from LuGre model parameters.}, language = {en} } @incollection{Rill, author = {Rill, Georg}, title = {Vehicle Dynamics in Real-Time Simulation}, series = {The dynamics of vehicles on roads and on tracks}, booktitle = {The dynamics of vehicles on roads and on tracks}, editor = {Apetaur, Milan}, publisher = {CRC Press}, address = {Boca Raton}, isbn = {9781003210894}, doi = {10.1201/9781003210894-40}, pages = {337 -- 347}, abstract = {This paper presents some ideas on a new concept, named COMPACT (Computer Simulation of Passenger Cars and Trucks). COMPACT was developed for the mathematical description of vehicles in all driving situations. As COMPACT is completely adopted to the particular problems in road vehicle dynamics, it results in a computer code where execution time is minimized. Thus, even real-time application at the Daimler-Benz driving simulator is possible. Previous Chapter Next Chapter}, language = {en} } @book{RillSchaefferBorchsenius, author = {Rill, Georg and Schaeffer, Thomas and Borchsenius, Fredrik}, title = {Grundlagen und computergerechte Methodik der Mehrk{\"o}rpersimulation}, edition = {4. Aufl.}, publisher = {Springer Fachmedien}, address = {Wiesbaden}, isbn = {978-3-658-28911-9}, doi = {10.1007/978-3-658-28912-6}, abstract = {Dieses Lehrbuch stellt die Methoden der Mehrk{\"o}rpersimulation anschaulich dar und erl{\"a}utert an einfachen Beispielen die Vor- und Nachteile bei der praktischen Anwendung. In den Text integrierte Matlab-Skripte und -Funktionen verdeutlichen die einzelnen Methoden. Die Modellbildung, die mathematische Beschreibung und die numerische Simulation von Systemen starrer K{\"o}rper bilden dabei die Schwerpunkte. Konkrete Beispiele beinhalten einen Bungee-Sprung, die Eigendynamik eines Traktors mit Vorderachsfederung, das Hubschrauberrotorblatt sowie eine Pkw-Vorderachse. Die L{\"o}sungen zu den {\"U}bungsaufgaben und die im Text integrierten Matlab-Beispiele, die zum Teil durch Animationen angereichert sind, sowie zus{\"a}tzliche Beispiele und Anwendungen stehen auf der Verlagshomepage beim Buch zum Download zur Verf{\"u}gung und erm{\"o}glichen dadurch auch ein effizientes Selbststudium.}, language = {de} } @book{RillSchaeffer, author = {Rill, Georg and Schaeffer, Thomas}, title = {Grundlagen und Methodik der Mehrk{\"o}rpersimulation}, edition = {3. Aufl.}, publisher = {Springer}, address = {Wiesbaden}, isbn = {978-3-658-16008-1}, doi = {10.1007/978-3-658-16009-8}, abstract = {Dieses Lehrbuch stellt die Methoden der Mehrk{\"o}rpersimulation anschaulich dar und erl{\"a}utert an einfachen Beispielen die Vor- und Nachteile bei der praktischen Anwendung. In den Text integrierte Matlab-Skripte und -Funktionen verdeutlichen die einzelnen Methoden. Die Modellbildung, die mathematische Beschreibung und die numerische Simulation von Systemen starrer K{\"o}rper bilden dabei die Schwerpunkte. Konkrete Beispiele beinhalten die Eigendynamik eines Traktors mit Vorderachsfederung, das Hubschrauberrotorblatt sowie eine Pkw- Vorderachse. Die entsprechenden Matlab-Skripte und L{\"o}sungen zu den {\"U}bungsaufgaben k{\"o}nnen auf der Springer-Homepage beim Buch heruntergeladen werden. Neu aufgenommen wurden SparseMatrix Operationen sowie ein Beispiel zu einfach geschlossenen kinematischen Schleifen.}, language = {de} } @book{RillSchaeffer, author = {Rill, Georg and Schaeffer, Thomas}, title = {Grundlagen und Methodik der Mehrk{\"o}rpersimulation : Vertieft in Matlab-Beispielen, {\"U}bungen und Anwendungen}, publisher = {Springer}, address = {Berlin}, doi = {10.1007/978-3-658-06084-8}, pages = {215}, abstract = {Dieses Lehrbuch vermittelt nicht nur Grundlagen, sondern stellt auch die Methoden der Mehrk{\"o}rpersimulation anschaulich dar und erl{\"a}utert an einfachen Beispielen die Vor- und Nachteile bei der praktischen Anwendung. In den Text integrierte Matlab-Skripte und -Funktionen verdeutlichen die einzelnen Methoden und erm{\"o}glichen es, Aufwand und Problematik bei der Umsetzung der Theorie innerhalb von Simulationsprogrammen einzusch{\"a}tzen. Die Modellbildung, die mathematische Beschreibung und die numerische Simulation von Systemen starrer K{\"o}rper bilden dabei die Schwerpunkte. Konkret behandelte Beispiele sind die Eigendynamik eines Traktors mit gefederter Vorderachse, das Rotorblatt eines Hubschraubers sowie die Vorderachse eines Pkws. Die entsprechenden Matlab-Skripte und L{\"o}sungen zu den {\"U}bungsaufgaben k{\"o}nnen auf der Springer-Homepage beim Buch heruntergeladen werden. Der Inhalt Dynamik des starren K{\"o}rpers - Bewegungsgleichungen - Starre K{\"o}rper mit elastischen und kinematischen Verbindungselementen - Integrationsverfahren - Rekursiver Algorithmus - Differential-Algebraische Gleichungen - Analyse von Mehrk{\"o}rpersystemen - Anwendungs- und {\"U}bungsbeispiele aus der Technik Die Zielgruppen Studenten des Maschinenbaus, der Elektrotechnik und Mechatronik sowie der Biomechanik an Hochschulen und Universit{\"a}ten Ingenieure in der Praxis, die sich mit Fragestellungen der Mehrk{\"o}rpersimulation (MKS) befassen Entwickler aus der Kfz-Technik sowie Fachleute aus F+E Die Autoren Dr.-Ing. Georg Rill ist Professor mit den Lehrgebieten Technische Mechanik, Ingenieurinformatik, Fahrdynamik, Mehrk{\"o}rperdynamik sowie Laborleiter Fahrdynamik. Dr.-Ing. Thomas Schaeffer ist Professor mit den Lehrgebieten Konstruktion, CAD, Maschinenelemente und Getriebetechnik, Mehrk{\"o}rpersysteme und Bewegungstechnik sowie Laborleiter Mehrk{\"o}rpersimulation, beide an der Ostbayerischen Technischen Hochschule (OTH) Regensburg.}, language = {de} }