Dear Chrono Team,
I am currently implementing a simplified tractor model in Chrono for use in
a real-time simulation environment. The model consists of a rigid chassis,
a fixed rear axle with steered and driven wheels, and a front axle modeled
as a pendulum suspension ("Pendelachse") with additional steering. The goal
is to capture the essential dynamic behavior of the vehicle—particularly in
heave, pitch, and roll—sufficiently well for deployment on a motion
platform.
The vehicle operates on a rigid, non-deformable terrain, represented by a
tessellated triangular mesh. The primary excitation arises from
terrain-induced vertical disturbances with dominant frequency components up
to approximately 10 Hz.
*My core question is:*
What is the expected feasibility of running such a model in real time using
Chrono? In particular:
-
Are there benchmarks or best practices for achieving stable simulation
at control loop frequencies ~1 kHz?
-
Which solver, integrator, and constraint stabilization strategies are
recommended for this type of setup?
-
Are there known performance bottlenecks when using non-deformable
terrains modeled as triangular meshes?
Any insights—especially from prior experience with real-time vehicle
simulation or motion cueing applications—would be highly appreciated.
Best regards,
Stefan Oberpeilsteiner
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