Automatic generation of linearised equations of motion for moving vehicles.

This paper demonstrates a method for automatic generation of the linearised equations of motion for mechanical systems; in particular, one that is well suited to vehicle stability analysis. Unlike conventional methods for generating linearised equations of motion in ‘MCK’ form, the proposed method allows for the analysis of systems with nonholonomic constraints, and allows linearization around non-zero speeds. With this method, the algebraic constraint equations are eliminated after the linearisation and reduction to first order. The method has been successfully applied to an assortment of problems of varying complexity. (Author/publisher) For this poster, other posters and the papers presented at this Symposium see http://bicycle.tudelft.nl/bmd2010/