Development and Implementation of Real Time Multibody Vehicle Dynamics Model

실시간 다물체 차량 동역학 모델 개발 및 구현

  • Published : 2001.05.01


A real time multibody vehicle dynamics model has been developed and implemented using a subsystem synthesis method based on recursive formulation. To verify real time simulation capability the developed model has been applied to HMMWV(High Mobility Multipurpose Wheeled Vehicle) with steering system. For the kinematically driven steering system, the coupled front suspension-steering subsystem can be decoupled into two SLA suspension subsystems, which improves the efficiency of simulation. To investigate theoretical efficiency, operational counting method has been also employed to compare the proposed model with the conventional recursive dynamics model. Various simulations such as unsymmetric bump run, step steering(J-turn) and sine steering input test have been carried out to verify the real time feasibility of the proposed model.


Realtime Simulation;Multibody Dynamics;Vehicle Dynamics


  1. Haug, E.J., 1992, Intermediate Dynamics, Prentice Hall, Englewood Cliffs
  2. 오영석, 김성수, 1999, '구속 다물체 동역학 해석을 위한 미분대수 방정식 변환 방법,' 대한기계학회 '99 동역학 및 재어부문-생산 및 설계부문 공동학술대회 눈문집 pp. 105-110
  3. Atkinson, K., 1988, Numerical Analysis, John Wiley & Sons
  4. Choi, G.J., Yoo, Y.M., Lee, L.P., and Yoon, Y.S., 2000, 'A Real-time Multibody Dynamic Analysis Method using Suspension Composite Joints,' Int. Journal of Vehicle Design, vol. 24, nos 2/3, pp. 259-273
  5. 정홍규, 김상섭, 1998, '현가장치의 기구학적 특성을 고려한 효율적인 차량동역학 해석방법,' 대한자동차공학회 춘계학술대회 논문집, Vol. II, pp. 666-673
  6. Tsai, F.F., Haug, E.J., 1989, 'Automated Methods for High Speed Simulation of Multibody Dynamic Systems,' Technical Report R-47, Center for Computer Aided Design, The University of Iowa
  7. 김성수, 한종규, 1999, '차량동역학을 위한 부분 시스템 합성 공식에 관한 연구,' 대한기계학회논문집 A권, 제23권, 제3호, pp. 520-534
  8. HMMWV M1025 Dynamics Model, 1997, Automotive Research Center, Center for CAD, Iowa
  9. Allen, R. Wade, Magdaleno Raymond, E., Rosenthal Theodore J., 1995, 'Tire Modeling for Vehicle Dynamic Simulation,' SAE Paper No. 950312