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손아람(Aram SON),이기창(Kichang Yi),김건우(Kunwoo Kim),유완석(Wansuk Yoo) 한국자동차공학회 2007 한국자동차공학회 지부 학술대회 논문집 Vol.- No.-
This paper describes the derivation of the equation of motion for 7 DOF vehicle in 2 dimension. The velocity transformation technique is used to derive the equation of motion and ode function in MATLAB is used to solve the ordinary differential equation. To verify the equation of motion the simulation result of ADAMS program for 7 DOF vehicle is compared with the derived equation of motion.
조두호(Duho Cho),이정한(Junghan Lee),이기창(Kichang Yi),유완석(Wansuk Yoo) 대한기계학회 2009 大韓機械學會論文集A Vol.33 No.12
In multibody dynamic analysis, one of the most important problems is to reduce computation times for real-time simulation. This paper presents the derivation procedure of equations of motion of a 6x6 autonomous vehicle in terms of chassis local coordinates which do not require coordinates transformation matrix to enhance efficiency for real-time dynamic analysis. Also, equations of motion are derived using the VT(velocity transformation) technique and symbolic computation method coded by MATLAB. The Jacobian matrix of the equations of motion of a system is derived from symbolic operations to apply the implicit integration method. The analysis results were compared with ADAMS results to verify the accuracy and approve the feasibility of real time analysis.