연약지반을 고려한 차량 실시간 시뮬레이터 개발
Development of Realtime Simulator for Multibody Dynamics Analysis of Wheeled Vehicle on Soft Soil
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초록
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.
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.
참고문헌 (7)
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- Bae D.S, "A Decoupling Solution Method for Implicit Numerical Integration of Constrained Mechanical System", Mechanics ofStructures and Machines, 27(2), pp.129~141 (1999)
- DAFUL, "User's Manual" (2009), Virtual Motion
- Hong, S, "A Method for 3-D Dynamic Analysis of Tracked Vehicles on Soft Terrain of Seafloor", Fall KCORE Conference, pp.149~154 (2002)
- 홍섭, "Comparative Study on Tracked Vehicle Dynamics on Soft Soil : Single-Body Dynamics vs. Multi-Body Dynamics", ISOPE, pp.132~137 (2003)
- 이철호, "Driving Simulator을 위한 프로그램 개발", 석사, pp.2004