The paper presents dynamic optimization methods used to calculate the optimal braking torques applied to wheels of an articulated vehicle in the lane following/changing maneuver in order to prevent a vehicle rollover. In the case of unforeseen obstacles, the nominal trajectory of the articulated vehicle has to be modified, in order to avoid collisions. Computing the objective function requires an integration of the equation of motions of the vehicle in each optimization step. Since it is rather time-consuming, a modification of the classical gradient method—variable metric method (VMM)—was proposed by implementing parallel computing on many cores of computing unit processors. Results of optimization calculations providing stable motion of a vehicle while performing a maneuver and a description and results of parallel computing are presented in this paper.
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September 2017
Research-Article
Dynamic Optimization of Multibody System Using Multithread Calculations and a Modification of Variable Metric Method
Kornel Warwas,
Kornel Warwas
Department of Computer
Science and Engineering,
University of Bielsko-Biała,
Bielsko-Biala 43-300, Poland
Science and Engineering,
University of Bielsko-Biała,
Bielsko-Biala 43-300, Poland
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Szymon Tengler
Szymon Tengler
Department of Mechanics,
University of Bielsko-Biała,
Bielsko-Biala 43-300, Poland
University of Bielsko-Biała,
Bielsko-Biala 43-300, Poland
Search for other works by this author on:
Kornel Warwas
Department of Computer
Science and Engineering,
University of Bielsko-Biała,
Bielsko-Biala 43-300, Poland
Science and Engineering,
University of Bielsko-Biała,
Bielsko-Biala 43-300, Poland
Szymon Tengler
Department of Mechanics,
University of Bielsko-Biała,
Bielsko-Biala 43-300, Poland
University of Bielsko-Biała,
Bielsko-Biala 43-300, Poland
Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received October 3, 2016; final manuscript received June 1, 2017; published online July 13, 2017. Assoc. Editor: Corina Sandu.
J. Comput. Nonlinear Dynam. Sep 2017, 12(5): 051031 (9 pages)
Published Online: July 13, 2017
Article history
Received:
October 3, 2016
Revised:
June 1, 2017
Citation
Warwas, K., and Tengler, S. (July 13, 2017). "Dynamic Optimization of Multibody System Using Multithread Calculations and a Modification of Variable Metric Method." ASME. J. Comput. Nonlinear Dynam. September 2017; 12(5): 051031. https://doi.org/10.1115/1.4037104
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