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Efficient implementations and co-simulation techniques in multibody system dynamics

机译：多体系统动力学中的高效实现和协同仿真技术

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[Abstract]Current research in simulation of multibody systems (MBS) dynamics is focusedon two main objectives: the increase of the computational efficiency of the softwarethat carries out the simulations, and the diversification of the problems this softwareis able to tackle, sometimes through the inclusion in the calculations of non purelymechanical phenomena. This work deals with these two objectives, studying the effectof source code implementation in software performance, as well as the differentcommunication methods with external software that can contribute the interaction ofthe MBS code with elements of a non mechanical nature.The first Chapter of this thesis contains a brief introduction to the present state ofthe art of MBS simulation software. It introduces the research lines this thesis formspart of and outlines its main objectives.The second Chapter describes the software architecture for MBS simulation thathas been developed for this research. The C++ language has been used for its implementation,according to the object–oriented programming paradigm. This Chapteralso enumerates the programming tools employed in the process and draws generalconclusions about the development of MBS programs.The third and fourth Chapters introduce efficient implementation techniques in thefield of linear algebra operations, and in the parallelization of the code, respectively.The obtained improvements in performance have been quantified, and the range ofapplication of each technique has been delimited.The fifth and sixth Chapters deal with the communication of the developed softwarewith external simulation software packages. A comparative study between thedifferent ways in which the coupling can be performed has been carried out and, besides,the impact on the efficiency and accuracy of the use of multirate co–simulationtechniques has been assessed. A generic interface for multirate integration has beendesigned to link the MBS software with MATLAB/Simulink, a mathematical andblock diagram package very popular in the multibody community.Finally, the seventh Chapter summarizes the conclusions of the present work, andproposes future research lines that can be derived from it.
机译：[摘要]当前对多体系统（MBS）动力学仿真的研究主要集中在两个主要目标上：提高执行仿真的软件的计算效率，以及使该软件能够解决的问题（有时通过包含在内）的多样化在非纯机械现象的计算中。这项工作针对这两个目标，研究了源代码实现对软件性能的影响，以及与外部软件的不同通信方法，这些通信方法可以促进MBS代码与非机械性质的元素之间的交互作用。本论文的第一章包含简要介绍了MBS仿真软件的最新技术。第二章介绍了为该研究开发的MBS仿真软件体系结构。根据面向对象的编程范例，已将C ++语言用于其实现。本章还列举了该过程中使用的编程工具，并得出了有关MBS程序开发的一般结论。第三章和第四章分别介绍了线性代数运算领域和代码并行化领域的有效实现技术。第五章和第六章讨论了所开发软件与外部仿真软件包的通信。进行了不同的耦合方式的比较研究，此外，还评估了对使用多速率联合仿真技术的效率和准确性的影响。设计了用于多速率集成的通用接口，以将MBS软件与MATLAB / Simulink（一种在多体社区中非常流行的数学框图框图）链接起来。最后，第七章总结了当前工作的结论，并提出了可以用于未来研究的思路从中得出。

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