In this paper, the computer-aided vehicle dynamic analysis of a 6x6 heavy military truck is presented and examined. For the analysis, a MATLAB/Simulink® platform is used to design and model a truck. The vehicle configuration taken into account for the analysis is the powertrain (engine, gear box, transfer gear, differential), suspension, steering system and tire model according to the Pacekja 89’ formulation. In addition, the effect of the rolling resistance and drag is considered, in order to represent the vehicle behavior as real as possible. The longitudinal dynamic and lateral dynamic are formulated. First, the longitudinal dynamic model is established by means of implementation of the weight transfer function. The vehicles are considered as rigid bodies with 1 degree of freedom. Second, the vehicular planar model with three wheels, well known as bicycle model, is applied following the North Atlantic Treaty Organization double line change maneuver test reaching 3 degree of freedom. The driver behavior is represented by using an adaptive model predictive control varying the longitudinal velocity. The forces for braking, inertia of the rotating components, the energy lost in the powertrain, and the effect of dive squat and rollover. The numerical simulation results are shown and compared with a full-vehicle model formed by using Mechanical Simulation Corporation’s truckSIM®. There were chosen simulation scenarios applied to the model to observe the effects of different parameters concerning the dynamic behavior, and also prepared in truckSIM® environment. The main contributions of this article are the development of the vehicular model, through the use of block diagrams in a reliable and relatively simple programming code such as MATLAB/Simulink®, with innovative tools used in the control of autonomous vehicle driving and the flexibility to adapt said model to different environmental conditions and different vehicle parameters.

中文翻译：

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自适应模型预测控制对 6 x 6 重型军用卡车进行建模和动态分析，并应用于北约车道变换测试课程

在本文中，介绍并检验了 6x6 重型军用卡车的计算机辅助车辆动力学分析。为了进行分析，使用 MATLAB/Simulink® 平台来设计和建模卡车。根据 Pacekja 89' 公式，分析中考虑的车辆配置是动力系统（发动机、变速箱、传动齿轮、差速器）、悬架、转向系统和轮胎模型。此外，还考虑了滚动阻力和阻力的影响，以尽可能真实地表示车辆行为。制定了纵向动力和横向动力。首先，通过实现权重传递函数建立纵向动力学模型。车辆被视为具有 1 个自由度的刚体。二、三轮车辆平面模型，众所周知的自行车模型，是在北大西洋公约组织双线变化机动试验达到3自由度后应用的。驾驶员行为通过使用改变纵向速度的自适应模型预测控制来表示。制动力、旋转部件的惯性、动力系统中的能量损失以及下蹲和侧翻的影响。显示了数值模拟结果，并与使用 Mechanical Simulation Corporation 的 TruckSIM® 形成的整车模型进行了比较。选择了应用于模型的模拟场景，以观察不同参数对动态行为的影响，并在 TruckSIM® 环境中准备。本文的主要贡献是车辆模型的开发，