Parallel Processing for Real-Time Dynamic System Simulation

[+] Author and Article Information
R. S. Hwang, D. S. Bae, J. G. Kuhl, E. J. Haug

Center for Simulation and Design Optimization and Department of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242

J. Mech. Des 112(4), 520-528 (Dec 01, 1990) (9 pages) doi:10.1115/1.2912641 History: Received June 01, 1989; Online June 02, 2008


A parallel processing algorithm based on the recursive dynamics formulation presented in a companion paper [1] is developed for multiprocessor implementation. Lagrange multipliers associated with cut-joint constraints for closed loop systems are eliminated, resulting in a minimal set of equations of motion. Concurrent generation of the system inertia matrix and the generalized force vector using the algorithm of Ref. 1 is shown to yield finer grain parallelism than earlier recursive algorithms. A new computational structure for dynamic analysis is proposed for high speed parallel processing. Real-time simulation of a vehicle is demonstrated on an eight processor parallel computer to illustrate efficiency and effectiveness of the algorithm, even for interactive operator-in-the-loop simulation.

Copyright © 1990 by The American Society of Mechanical Engineers
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