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Z. KORUBA ET AL.

Ivz — (A< T IprĘ_pv cos 'dpy T Iprrip_V sin dpv) sin lfipv +

“I^- (+ ^prQ_pv ) COS Ippy

Ivxz — (At>£' T Ipr£pv • cos if)pV sin ippv	COS 0pv 1 prrjp , sin “9pv
mw = 50 kg	Iw^ = lOkgm^2
Iwt]'v — 7 kgm	Iw{' = 12 kgm^2
mpr = 30 kg	Iprtw = 0.6 kgm^2
Iprr)pv ^= 4kgm	= 3.5 kgm^2

Launcher suspension parameters

kv ii = 30000 N/m	cv u = 150Ns/m
kv\2 = 30000 N/m	cwi 2 = 150Ns/m
kv 13 = 30000 N/m	Cui3 = 150Ns/m
kv i4 = 30000 N/m	Cyi4 = 150Ns/m
Missile parameters
mp = 12 kg	Ipxp = 0.01 kgm^2
Ipyp = 2 kgm^2	IPzr = 2 kgm^2
Geometrie characteristics
l\ = 0.3 m	I2 = 0.3 m
d\ = 0.2 m	d2 = 0.2 m
lp = 1.6 m	s 00 0 II n.

Thrust and operation time of the missile starter motor P_ss = 4000 N    t_ss = 0.07 s

4.2. Kinematic excitations

The terrain unevenness, i.e. a bump, was assumed to be a kinematic exci-tation. The basie motion of the vehicle carrying the launcher was defined as

Sn ⁼    tgb)

where