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Modeling of the Military HMMWV
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| Utilizing Newton-Euler equations we derived a full
vehicle dynamic model of the four-wheel-drive HMMWV. |
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This model is intended for use within vehicle control algorithms.
It includes formulations for the subsystems, including: brakes, power
train, suspension springs, and anti-roll bar. The model is 3D, capable of
losing ground contact, as seen in the animation to the right.
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(click to view) Simulation
where the vehicle is dropped from 30 cm. above its equilibrium position. |
(click to view) Simulation
where the vehicle is driven over three consecutive speed bumps.
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Terrain variations are expressed in an explicit form and used as an
input to the tire contact model. |
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| Researchers: |
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| Randy Sleight |
Randy recently completed his Master of
Science in Mechanical Engineering degree and is
currently seeking employment (view
resume). In the meantime, he will continue
modifications on the HMMWV simulation and control. He is
interested in developing autonomous vehicles, whether
they be air vehicles, ground vehicles, or even vacuums.
On a broader scope, he would like to be involved in the
design, evaluation, testing, and implementation of
mechanical and/or control systems. |
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| Publications: |
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| view PDF |
Sleight, R.T.
and Agrawal, S.K. “ Dynamic Model of a Four-Wheel-Drive HMMWV.”, 2004 ASME Design Engineering Technical
Conferences. Salt Lake City. |
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Masters thesis by Randy Sleight; Detailing the modeling, simulation and control of the HMMWV model. |
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| Download the model: |
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| The model was derived using Matlab's symbolic toolbox.
The script files for both the derivation and the execution of the model are
available here. |
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revised 2004.10.13
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