수륙양용장갑차 시뮬레이터를 위한 실시간 차량 동역학 모델 개발

A tracked vehicle dynamic model with high efficiency and effectiveness is introduced that has been implemented on a training driving simulator. The multi-body vehicle model is based on recursive formulation and has been automatically generated from a symbolic computation package developed by the authors. The model includes a complete set of subsystems such as chassis, road wheels, suspension, powertrain, and track. An amphibious capability of an actual tracked vehicle is also simulated realistically enough to maximize training effectiveness of the simulator. The efficiency and effectiveness of the vehicle dynamic model is demonstrated through simulation.