A Hamiltonian Equation of Motion for Realtime Vehicle Simulation
Abstract A relative coordinate formulation of the Hamiltonian equation of motion is derived for realtime vehicle simulation. The Baumgarte stabilization method [1] is adopted to solve the Differential-Algebraic Equations (DAE) of motion. The stability theory of multi-step integration methods is used to determine the stabilization constant. The equations of motion are first derived in Cartesian space and are reduced to relative coordinate space using the velocity transformation method [2]. Partial derivative of the kinetic energy with respect to the relative coordinate is obtained from equivalence of the Lagrangian and the Newton-Euler formulations. Parallel processing of the formulation is also discussed. Realtime simulation of a passenger vehicle is carried out to demonstrate the efficiency of the new formulation.