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Agric angular velocity ASAE behavior calculates CALL TRAN2 center of mass computer program computer simulation coordinate system Cornell University Crolla DATA degree slope ground differential equations DIMENSION DVERK Dynamics Engng flat ground surface front axle front wheel GOTO HVOSM i i i i i i i i i I i i i i i i i i i IMPLICIT REAL*8 A-H,0-Z IMSL initial velocity INPUT lateral force level ground mathematical model normal force normal force acting Overturns on Slope oxyz passing the ramp predicting tractor PRINT provides rear wheel Rehkugler 1982 RETURN END SUBROUTINE rolling angle ROLLING RESISTANT rotation ROUTINE shown in Figure SIMTRAC simulation of tractor slip angle slope angle STOS Terramechanics tipping phase traction tractor body tractor center tractor motion tractor overturns tractor sideways overturns tractor stability tractor steering TRAN1 UIMSL unit vector Unstable Region vehicle Vehicle System Dynamics WRITE XARG xyz system yaw angle zero