중장비 구동체계의 제어용 동적 모델에 관한 연구

Abstract

본 논문에서는 이와 관련하여 전형적인 중장비 구동체계를 대상으로 동적모델 을 유도하는 일련의 과정을 제시하고 구동체계의 효율적 제어를 위한 간략화된 모델을 유도하였다.

A dynamic modeling procedure for developing a control model of the driving system of a heavy industrial vehicle is presented. The dynamic model is derived by applying generalized Lagrangian equations to each component of the system and imposing kinematic relations between components as constraints. In order to obtain the control model, a few assumptions are made for the simplification of the nonlinear and complicated model, which is justified by the comparison of the simulation results of the original full nonlinear model and the simplified control model.