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

연약지반을 고려한 차량 실시간 시뮬레이터 개발

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

  • Received : 2011.09.15
  • Accepted : 2011.12.23
  • Published : 2011.12.31


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.


Multi-body dynamics analysis;Soft soil;Realtime simulator;Explicit integrator;Relative coordinate


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Grant : 심해저 집광시스템 및 채광운용기술 개발지원, 유인/무인 전투화량 실시간 동력학 모듈개발

Supported by : 한국해양연구원, 국방과학연구소