Development of Realtime Simulator for Multibody Dynamics Analysis of Wheeled Vehicle on Soft Soil

doi:2011.25.6.116

J. Ocean Eng. Technol. > Volume 25(6); 2011 > Article

J. Ocean Eng. Technol. 2011;25(6):116-122.
DOI: https://doi.org/10.5574/KSOE.2011.25.6.116

Hong Sup,Kim Hyung-Woo,Cho Yun-Sung,Cho Hui-Je,Jung Ji-Hyun,Bae Dae-Sung

Ocean Development System Laboratory KORDI,Ocean Development System Laboratory KORDI,R&D Institute VirtuallMotion Inc.,R&D Institute VirtuallMotion Inc.,Mechanical Engineering Institute Hanyang University,Mechanical Engineering Institute Hanyang Univ

연약지반을 고려한 차량 실시간 시뮬레이터 개발

홍섭,김형우,조윤성,조희제,정지현,배대성

한국해양연구원 해양시스템안전연구소,한국해양연구원 해양시스템안전연구소,버추얼모션(주) 부설연구소,버추얼모션(주) 부설연구소,한양대학교 기계공학부,한양대학교 기계공학부

Keywords: Multi-body dynamics analysis, Soft soil, Realtime simulator, Explicit integrator, Relative coordinate

핵심용어: 다물체 동역학 해석, 연약 지반, 실시간 시뮬레이터, 명시적 수치적분기, 상대좌표

Abstract

A realtime simulator using an explicit integration method is introduced to improve the solving performance for the dynamic analysis of a wheeled vehicle. Because a full vehicle system has many parts, the development of a numerical technique for multiple d.o.f. and ground contacts has been required to achieve a realtime dynamics analysis. This study proposes an efficient realtime solving technique that considers the wheeled vehicle dynamics behavior with full degrees of freedom and wheel contact with soft ground such as sand or undersea ground. A combat vehicle was developed to verify this method, and its dynamics results are compared with commercial programs using implicit integration methods. The combat vehicle consists of a chassis, double wishbone type front and rear suspension, and drive train. Some cases of vehicle dynamics analysis are carried out to verify the realtime ratio.