Mathematical Simulation of the Dynamics of a Military Tank

The equations of motion associated with a military tank are derived using Lagrange equations. The tank is treated as three distinct bodies, each having six degrees of freedom (three dimensional motion), representing the hull, the turret and the main gun. The rigid bodies are subject to a set of kinematic constraint relationships, which provide the physical interface of the system. Eulerian coordinates are used to describe the rigid bodies. Lagrangian coordinates are used to describe the beading of the main gun. The gun is assumed to bend in the elevation and azimuthal directions.