실시간 챠량시뮬레이션을 위한 심볼운동방정식 생성

A methodology for synbolic generation of aultibody dynamic equations of notion is proposed in this paper. The resulting symbolic equations can be effectively applied to real-time vehicle simulation that is a key ingredient to hardware-in-the-loop and aan-in-the loop simulation. The methodology has been applied to a aultibody full vehicle nodel and benchnarked.