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나상도(Sang Do Na),김보민(Bo Min Kim),유완석(Wan Suk Yoo) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.5
The paper presents a lumped parameter vehicle dynamic modeling method that includes kinematic characteristics of suspensions. The relative displacement and orientation of a wheel with respect to car body are represented as a function of the vertical displacement of the wheel. The vehicle is modeled as five bodies (chassis, 4 wheels) by using ADAMS. The equation of motion of the vehicle is consisted in terms of the chassis local coordinates which do not require coordinates transformation to enhance efficiency in dynamic analysis. The analysis results were compared with ADAMS results to verify the accuracy.
유완석(Wan Suk Yoo),나상도(Sang Do Na),김광석(Kwang Suk Kim) 대한기계학회 2012 大韓機械學會論文集A Vol.36 No.9
실시간 차량동역학 해석을 위해서는 효율적인 차량 모델이 필요하게 된다. 효율성을 높이기 위해 집중질량모델로 가정하면 현가장치의 특성을 고려하기 어렵게 되며, 현가장치의 특성을 모두 고려한 다물체동역학 모델에서는 효율성이 떨어진다. 그러므로 본 논문에서는 다물체동역학 모델링을 사용하되 해석의 효율성을 저하시키는 현가장치의 각종 요소들의 효과는 기구정역학 실험으로 추출된 특성그래프로 대체함으로써 효율성도 기하고자 시도하였다. 6x6 차량을 차체와 휠로 구성된 차량으로 모델을 정의 하였고, 다물체동역학 모델인 ADAMS 결과와 비교하여 실험적 모델의 유용성을 검증하였다. 그리고 검증된 실험적 차량모델을 RT-LAB 을 활용한 실시간 시뮬레이션 환경에 삽입하여, 실시간성 시뮬레이션의 가능성을 검증하였다. The paper presents an Experimental Vehicle Model (EVM), that utilizes the kinematic characteristics of suspensions from SPMD test data. The relative displacement and orientation of a wheel with respect to the body are represented as a function of the vertical displacement of the wheel. The equations of motion of the vehicle are formulated in terms of local coordinates that do not require coordinate transformation, which improves the efficiency of dynamic analysis. The EOM was modularized for each suspension model, and a 6 × 6 vehicle model was obtained by combining six suspensions. The analysis results were compared with ADAMS to verify the accuracy of the EVM. This study also verifies the feasibility of real-time simulation with the developed EVM. For a vehicle simulation for 1 ms, the real simulation time required within 20% of the prescribed time. This result shows that the EVM meets the real-time simulation requirements.
K&C Test data를 활용한 조향축 지오메트리 계산
박평화(Pyeong Hwa Park),나상도(Sang Do Na),김도균,이종식(Jong Sik Lee) 한국자동차공학회 2019 한국자동차공학회 부문종합 학술대회 Vol.2019 No.5
Steering axis geometry is important thing in the vehicle handling and steering performances. And that information is necessary to make vehicle simulation model. Unfortunately in order to secure the steering axis geometry information, we need to suspension hardpoint data. In addition to, in case of multilink suspension, even if we have hardpoint data we can’t calculate steering axis geometry directly. This paper calculates steering axis geometry by using screw axis theory and K&C data. And verify by comparison with the ADAMS/Car simulation result and apply to K&C Test data which created by MTS K&C test system.