Equations of motion for one-dimensional structure variable multibody systems in mechatronic real time applications

For multibody systems with clutches and brakes, the number of mechanical degrees of freedom reduces, when the clutches or brakes are engaged. For the conventional description of the system 2(k) multibody structures are necessary, where k is the number of clutches and brakes. Furthermore, the exact calculation of the stick- or slip-state of the clutches and breaks lead to numeric iteration. This numeric iteration is not applicable in real time simulations. In this paper a method will be shown which avoids the problem of one-dimensional structure variable systems by using a compact description of the multibody system representing all possible structures.