Abstract
The fast growing processing capability of digital circuits allows real-time simulation of mechatronic systems to embrace new applications at a lower cost. However, the development of real-time simulation models is still a difficult task. Object-oriented modeling, along with efficient mathematical formulation, seems to solve this matter. The work covered by this paper was carried out in order to evaluate existing possibilities for the development of real-time simulations of mechatronic systems by means of object-oriented modeling tools.
This paper presents a recursive variational formulation for real-time simulation of multibody mechanical systems on shared memory parallel computers. Static scheduling algorithms are employed to evenly distribute computation on shared memory multi-processors. Based on the methods developed, a general-purpose dynamic simulation program is shown to simulate multibody systems faster than real-time, enabling operator-in-the-loop simulation of ground vehicles and robots.
High Level Object Oriented Real-Time Simulation Programming and TMO Scheme
