Drivetrain modeling and model analysis for real-time application

This paper describes a shortcut which can simplify the modeling and simulation process of various automotive drivetrain configurations. Based on the physical model equivalent through a "Lever Analogy", the Lagrangian equations of motion are used to derive the dynamic equations of drivetrain mechanisms. The whole derivation process is then programmed using a symbolic calculation package, so that the derivation of governing equations and the transformation of these equations into standard C subroutines can be fully automated. Since the constraints and outer forces which act on the drivetrain are mainly described in the form of energy or generalized forces, the preprocessing work of the modeling process is greatly simplified. Because of special efforts paid to the standardization and abbreviation of the derived governing equations for real-time purposes, this method can be applied to many time-critical drivetrain simulation circumstances, such as the different phases of automatic transmission controller development and related real-time dynamic simulators or hardware-in-the-loop simulations.