Spatial Dynamics of Tank Motion for Real-Time Simulation

摘要

This study develops the three-dimensional mathematical models of tank motion by the Euler-Lagrange equations in quasi-coordinate for the real-time simulation applications. To reduce the computational load, all the forces from the ground are concentrated on the tracks under the ground wheels. The normal and frictional forces at contact points are computed to simulate the tractive and braking behavior of the tank motion. The developed dynamic model is tested by computer simulation including turning, driving and stopping on a given road profile. The motions of the turret and barrel with gun fire reaction are also simulated, It shows the effectiveness of the real-time tank dynamic simulator.