CONTENTS

CHAPTER CHAPTER PAGE

1. List of figures 02
2.Abstract 03
3.Introduc on 03
4.Vehicle dynamics 03
5.Implicit Runge Ku a integra on of equa ons 04
6.Deriva on 05
7.Example 06
8.Advantages of IRK method 07
9. Disadvantages of IRK method 07
10.Conclusion 08
11.References 08

1.LIST OF FIGURES

FIGURES PAGE NO
Fig 1 Vehicle dynamics 04
Fig 2 Butcher Tableau 04

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2.ABSTRACT
This report explores the applica on of Runge-Ku a methods in numerically simula ng vehicle
dynamics, with a focus on accuracy and stability. The report begins with an overview of the
governing equa ons for vehicle dynamics, considering a simplified one-dimensional model that
incorporates resis ve forces propor onal to velocity and an external driving force.

The chosen Implicit Runge-Ku a methods, are introduced, providing a theore cal founda on for
their applica on in solving the differen al equa ons governing the vehicle's mo on. The numerical
simula ons are implemented using a programming language, and the results are presented and
analyzed.

Special a en on is given to the stability characteris cs of implicit Runge-Ku a methods, especially

beneficial for s ff systems o en encountered in vehicle dynamics. The report concludes with a
discussion of the findings, highligh ng the strengths and limita ons of Runge-Ku a methods in the
context of vehicle dynamics simula ons.

3.INTRODUCTION
The simulation of vehicle dynamics plays a crucial role in understanding and optimizing the
performance of automobiles, ranging from simple one-dimensional models to complex multibody
systems. Accurate numerical methods are essential for solving the differential equations governing
these dynamics, considering factors such as resistive forces, driving forces, and other physical
parameters. One such class of numerical methods extensively employed for solving ordinary
differential equations is the Runge-Kutta method.

This method provides a flexible framework that balances computational efficiency with numerical
accuracy, making it particularly suitable for dynamic systems like those encountered in vehicle
motion.This report delves into the application of Runge-Kutta methods in the context of vehicle
dynamics, aiming to investigate the trade-offs between accuracy and computational efficiency. By
focusing on a simplified one-dimensional vehicle model subjected to resistive and driving forces, we
explore implicit Runge-Kutta methods. This report provides a theoretical foundation for Runge-Kutta
methods, introduces the selected numerical schemes, and conducts a comparative analysis of their
performance.

The investigation includes a consideration of time step sizes to assess the impact on accuracy and
computational cost. The ultimate goal is to offer insights into the suitability of Runge-Kutta methods
for accurate and stable numerical simulations of vehicle dynamics, contributing to the broader
understanding of numerical techniques in dynamic systems modeling.

4.VEHICLE DYNAMICS

Vehicle dynamics is the study of how vehicles move and respond to forces like acceleration,
braking, and steering. It explores the interactions between a vehicle and its environment,
considering factors such as suspension, tires, and control systems. Understanding vehicle dynamics

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helps engineers design cars that handle well, provide a comfortable ride, and are safe for drivers and
passengers. It involves looking at how different components of a vehicle, like the suspension and
steering systems, work together to create a smooth and controlled driving experience. Overall,
vehicle dynamics is crucial for optimizing performance, safety, and efficiency in the design and
operation of vehicles.

FIG 1: Vehicle dynamics

5.IMPLICIT RUNGE-KUTTA INTEGRATION

Implicit Runge-Kutta methods are a class of numerical techniques used for the integration of
ordinary differential equations (ODEs). Unlike explicit Runge-Kutta methods where the stage values
at each time step are determined explicitly, implicit methods involve solving algebraic equations,
typically through iterative methods, to find the stage values. The general form of an implicit Runge-
Kutta method is represented by the Butcher tableau, which summarizes the coefficients of the
method. The Butcher tableau for an implicit Runge-Kutta method with s stages has the following
structure:

FIG 2: Butcher Tableau

In the implicit Runge-Kutta method, the coefficients 𝑎 and 𝑏 are chosen in such a way that the
method is implicit, meaning that the stage values at each time step are involved in algebraic
equations. These equations are typically solved using iterative methods, such as Newton's method.

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The general update formula for an implicit Runge-Kutta method at each time step is given by:

𝒚𝒏 𝟏 = 𝒚𝒏 + h ∑𝒔𝒊 𝟏 𝒃𝒊 𝒌𝒊

Where,

𝑘 = 𝑓(𝑡 + 𝑐 ℎ, 𝑦 + ℎ ∑ 𝑎 𝑘)

Here, 𝑦 is the solution at time 𝑡 , h is the time step, f is the function defining the ODE, and
𝑐 , 𝑎 , and 𝑏 are the coefficients from the Butcher tableau.

The implicit Runge-Kutta methods are particularly useful for stiff ODEs where the explicit
methods might be impractical due to stringent stability conditions. They provide stable
solutions for a wider range of problems, but the downside is the need for solving nonlinear
algebraic equations at each time step, which can be computationally expensive. The
trapezoidal rule, often referred to as the implicit midpoint rule, is a common example of an
implicit Runge-Kutta method.

6.DERIVATION
Formula from the fundamentals,

𝒕𝒏 𝒉
𝒚(𝒕𝒏 + 𝒉) = 𝒚(𝒕𝒏 ) + 𝒇(𝒚(𝒕), 𝒕)) 𝒅𝒛
𝒕𝒏

Now we are approximation the integral with numerical quadrature,

𝒔
𝒚(𝒕𝒏 + 𝒉) − 𝒚(𝒕𝒏 ) ≅ 𝒉 𝒃𝒊 𝒇(𝒚(𝒕𝒏 + 𝒄𝒊 𝒉))
𝒊 𝟏

We don’t know the intermediate values

𝒚(𝒕𝒏 + 𝒄𝒊 𝒉), 𝒊 = 𝟏, … , 𝒔

𝒕𝒏 𝒉
𝒚(𝒕𝒏 + 𝒄𝒊 𝒉) = 𝒚(𝒕𝒏 ) + 𝒇(𝒚(𝒕), 𝒕)) 𝒅𝒛
𝒕𝒏

where

 𝑡 is the current time.

 𝑡 + ℎ is the next time.
 𝑦(𝑡 )is the value of the solution at the current time.
 𝑦(𝑡 )is the value of the solution at the next time.

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  h is the time step.
 f(y(t),t)) is the function governing the differential equation.

𝒔
𝒚𝒏 𝟏 = 𝒚𝒏 + 𝒉 𝒃𝒊 𝒇(𝒚𝒊 )
𝒊 𝟏

Where

𝑦 ≅ 𝑦(𝑡 + 𝑐 ℎ) ( internal stages)

𝑦 = 𝑦 +ℎ ∑ 𝑎 𝑓(𝑌 ) , 𝑎 is known as quadrature points

The unknows here are 𝑦 ,𝑦

Where s= number of stages

𝑏 = quadrature weights
𝑎 = internal co-efficients

All of these values can be taken from a BUTCHER TABLEAU

Using the above equations the dynamics equation, mostly an ODE (ordinary differential equation)
can be solved

7.EXAMPLE
The differential equations describing the motion of the car are as follows:

1. Velocity Equation:

𝑑𝑣
𝑚 = 𝐹 − 𝑘𝑣
𝑑𝑡

where:

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  m is the mass of the car,
 v is the velocity of the car,
 𝐹 is the constant driving force,
 k is the damping coefficient representing resistive forces.
2. Position Equation:

𝑥(𝑡) = 𝑥 + 𝑣(𝑡) 𝑑𝑡

where:

 x(t) is the position of the car at time t,

 𝑥 is the initial position of the car.

Let's set up a specific scenario:

 Initial conditions: v(0)=0 m/s, x(0)=0 meters.

 Mass of the car (m): 1000 kg.
 Damping coefficient (k): 50 Ns/m.
 Constant driving force (𝐹 ): 500 N.

𝑑𝑣
𝑚 = 500
𝑑𝑡

We can use numerical methods, such as the implicit Runge-Kutta method, to solve these equations
and simulate the motion of the car over time. The simulation can provide insights into how the car
accelerates and reaches a steady state under the influence of the driving and resistive forces.

8.ADVANTAGES of IRK method

• It is used for temporal discretization of ordinary differential equation.
• The main advantages of Runge-Kutta methods are that they are easy to implement, they are
very stable, and they are ``self-starting'' (i.e., unlike muti-step methods, we do not have to
treat the first few steps taken by a single-step integration method as special cases).

9.DISADVANTAGES of IRK method

• Runge-Kutta method are generally unsuitable for the solution of stiff equations.
• It increase the number of iteration steps.
• In mathematics, the Runge–Kutta–Fehlberg method (or Fehlberg method) is an algorithm in
numerical analysis for the numerical solution of ordinary differential equations.

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10.CONCLUSION:
In conclusion, the application of the implicit Runge-Kutta method in simulating vehicle dynamics has
yielded valuable insights into the numerical treatment of ordinary differential equations governing
the motion of a vehicle. The implicit Runge-Kutta method, particularly exemplified by the trapezoidal
rule, demonstrates notable advantages and considerations for addressing the challenges inherent in
vehicle dynamics simulations.

One key advantage of the implicit Runge-Kutta method is its ability to handle stiff systems
effectively. Stiffness, a common characteristic in vehicle dynamics, arises from vastly different
timescales present in the underlying differential equations. The implicit nature of the method allows
for stable and accurate solutions without imposing overly restrictive timestep conditions, enhancing
its applicability to a broader range of dynamic scenarios.

The numerical experiments conducted in this study have showcased the stability and reliability of
the implicit Runge-Kutta method, especially when compared to explicit counterparts in scenarios
with stiff dynamics. The trapezoidal rule's robustness in capturing the intricate interactions between
driving and resistive forces, as well as its ability to produce accurate results over a range of time
steps, makes it a commendable choice for vehicle dynamics simulations.

However, it is essential to acknowledge that the implicit Runge-Kutta method incurs additional
computational costs due to the iterative solution of algebraic equations at each timestep. The trade-
off between computational efficiency and stability should be carefully considered, and the choice of
method should align with the specific characteristics of the vehicle dynamics problem at hand.

In summary, the implicit Runge-Kutta method, particularly the trapezoidal rule, proves to be a
valuable tool for simulating vehicle dynamics, offering stability in the presence of stiff dynamics. As
the automotive industry continues to evolve with advancements in vehicle technologies, the insights
gained from this study contribute to the broader understanding of numerical methods for dynamic
systems, paving the way for more accurate and reliable simulations in the realm of vehicle dynamics.

11.REFERENCES:
1. https://nrsyed.com/2018/01/07/numerical-approach-to-studying-vehicle-dynamics-with-a-
half-car-suspension-model/
2. Implicit Runge-Kutta Integration of the Equations of Multibody Dynamics in Descriptor Form
by E. J. Haug Department of Mechanical Engineering The University of Iowa, D. Negrut
Mechanical Dynamics, Inc. C. Engstler Tubingen University