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정지현(J.H. Jung),이철호(C.H. Lee),배대성(D.S. Bae) 제어로봇시스템학회 2012 제어로봇시스템학회 합동학술대회 논문집 Vol.2012 No.7
This study is on real-time simulator for tracked vehicle. Tracked vehicle consists of Wheel, Arm, Chassis, Turret, Cannon. The joints are formulated as constrained equations and Lagrange multipliers to get a constrained force. Rotational Spring-Damper(RSD) for suspension system and Translational Spring-Damper(TSD) for track force are used in the combat vehicle. A fiala model added to Soil formulation of Bekker"s theorem is called modified fiala tire model. To simplify and stabilize turret and cannon using palm signal, orientation matrices based on chassis and ground are used. A numerical example is introduced to validate a developed code with a result from a commercial multi-body dynamics software.