Terrain-Adaptive Auxiliary Track Tensioning System for Tracked Vehicles

2013 ◽  
Vol 8 (3) ◽  
Author(s):  
Jaroslav Matej
Keyword(s):  
Genetic Algorithm ◽  
Multibody Dynamics ◽  
Dynamics Simulation ◽  
Optimal Parameters ◽  
Vehicle Model ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
The Road ◽  
Java Language ◽  
Genetic Algorithm Method

It is known that tension in the track of a tracked vehicle has a large effect on its driving properties. Simple track tensioning solutions, like track adjusting link assembly, use a one-road wheel motion to govern the motion of a track tensioning element. Thus the track tensioning force is a function of a terrain micro-profile. A logical improvement of this approach is to use all of the road wheels to govern the motion of the track tensioning element. This can be achieved by an auxiliary track tensioning system. This paper analyzes the conceptual track tensioning system governed by a terrain micro-profile. The motion of the track tensioning element is designed as a function of all of the road wheels' motions. A genetic algorithm method, implemented in Java language, is used to find the optimal parameters of the tensioning system and the results are verified via multibody dynamics simulation using the MSC.ADAMS/View system. The paper answers the question of whether the use of all of the road wheels' motions to govern the motion of the track tensioning element can be useful or not. The results indicate that the use of the auxiliary system can decrease the variance of the track tensioning force, in comparison with the track tensioning system without auxiliary tensioning. This means that the value of the track tensioning force is closer to its desired, predefined, and constant value during the whole simulation. The tracked vehicle model that is used is a simplified one and it is intended as a base for specific designs of track tensioning systems with auxiliary tensioning. The results suggest that the system can be used to improve the driving properties of tracked vehicles or robots.

Simulation of 2S1 Tracked Vehicle Model with Modernized Suspension System during Crossing a Single Obstacle

2013 ◽  
Vol 208 ◽  
pp. 140-147
Author(s):  
Tomasz Nabagło ◽  
Andrzej Jurkiewicz ◽  
Marcin Apostoł ◽  
Piotr Micek
Keyword(s):  
Suspension System ◽  
Human Response ◽  
Vehicle Model ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
Alternative Models ◽  
Torsion Spring ◽  
Spring Element ◽  
Straight Line ◽  
Improve Stability

In the article, three alternative models of 2S1 platform suspension system are presented. First model is based on existing construction of 2S1 platform suspension. Two next were modernized by usage of new solutions in tracked vehicles suspension technology. The solutions are especially associated with torsion spring element and idler mechanism. The authors have assumed simulation conditions for straight line driving of the vehicle models, while they overcome a single obstacle with one track. Results of all models simulations are compared and analyzed to improve stability of the vehicle while driving. There are also used a human response filter to determine less harmful driving conditions for vehicle crew.

scholarly journals Analytical Study on the Cornering Behavior of an Articulated Tracked Vehicle

Machines ◽  
2021 ◽  
Vol 9 (2) ◽  
pp. 38
Author(s):  
Antonio Tota ◽  
Enrico Galvagno ◽  
Mauro Velardocchia
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Analytical Study ◽  
Proportional Integral Derivative ◽  
Vehicle Model ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
Side Slope ◽  
Skid Steering ◽  
And Control

Articulated tracked vehicles have been traditionally studied and appreciated for the extreme maneuverability and mobility flexibility in terms of grade and side slope capabilities. The articulation joint represents an attractive and advantageous solution, if compared to the traditional skid steering operation, by avoiding any trust adjustment between the outside and inside tracks. This paper focuses on the analysis and control of an articulated tracked vehicle characterized by two units connected through a mechanical multiaxial joint that is hydraulically actuated to allow the articulated steering operation. A realistic eight degrees of freedom mathematical model is introduced to include the main nonlinearities involved in the articulated steering behavior. A linearized vehicle model is further proposed to analytically characterize the cornering steady-state and transient behaviors for small lateral accelerations. Finally, a hitch angle controller is designed by proposing a torque-based and a speed-based Proportional Integral Derivative (PID) logics. The controller is also verified by simulating maneuvers typically adopted for handling analysis.

Vibration Simulation of Tracked Vehicle Suspension and Damper Consumption Analysis

2012 ◽  
Vol 184-185 ◽  
pp. 748-751
Author(s):  
Zhao Zhong Cai ◽  
Hui Mei Li ◽  
Gang An
Keyword(s):  
Dynamic Simulation ◽  
Simulation Software ◽  
Road Surface ◽  
Vehicle Suspension ◽  
Superposition Method ◽  
Vehicle Model ◽  
Tracked Vehicle ◽  
The Road ◽  
Vibration Simulation ◽  
Regenerative Energy

In order to estimate the damping consumption of traditional suspension, this paper established the tracked vehicle model based on the dynamic simulation software RecurDyn, and the road models of B、D and F grad are constructed by harmony superposition method. Through the simulation of the suspension vibration, the relation between suspension consumption and different road surface and velocity is performed. The results supply some reference for the research on regenerative-energy suspension of tracked vehicle.

The Dynamics Simulation of Tracked Vehicles on the Hard and Soft Ground Based on the RecurDyn

2013 ◽  
Vol 842 ◽  
pp. 351-354 ◽  
Author(s):  
Chong Kai Zhou ◽  
Ya Yu Huang ◽  
Li Ni
Keyword(s):  
Three Dimensional ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Dynamics Model ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
Process Dynamics ◽  
Body Dynamics ◽  
Multi Body ◽  
Vehicle Movement

In order to accurately study a tracked vehicle movement on the ground in hard and soft features, this paper uses multi-body dynamics simulation software RecurDyn tracked vehicle subsystems Track (LM), establishing a three-dimensional multi-body vehicle dynamics model. For tracked vehicles at an inclination of 10 degrees slope, through the soft and hard ground steering process dynamics simulation and comparative analysis. This paper provides an accurate basis for the future in-depth research on Tracked vehicle.

Ride Dynamics of a Tracked Vehicle with a Finite Element Vehicle Model

2016 ◽  
Vol 66 (1) ◽  
pp. 19 ◽  
Author(s):  
S. Jothi ◽  
V. Balamurugan ◽  
K. Malar Mohan
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Vehicle Dynamics ◽  
Vertical Displacement ◽  
Experimental Result ◽  
Vehicle Model ◽  
Tracked Vehicle ◽  
The Road ◽  
Vehicle Test ◽  
Element Method

<p>Research on tracked vehicle dynamics is by and large limited to multi-rigid body simulation. For realistic prediction of vehicle dynamics, it is better to model the vehicle as multi-flexible body. In this paper, tracked vehicle is modelled as a mass-spring system with sprung and unsprung masses of the physical tracked vehicle by Finite element method. Using the equivalent vehicle model, dynamic studies are carried out by imparting vertical displacement inputs to the road wheels. Ride characteristics of the vehicle are captured by modelling the road wheel arms as flexible elements using Finite element method. In this work, a typical tracked vehicle test terrain viz., Trapezoidal blocks terrain (APG terrain) is considered. Through the simulations, the effect of the road wheel arm flexibility is monitored. Result of the analysis of equivalent vehicle model with flexible road wheel arms, is compared with the equivalent vehicle model with rigid road wheel arms and also with the experimental results of physical tracked vehicle. Though there is no major difference in the vertical bounce response between the flexible model and the rigid model, but there is a visible difference in the roll condition. Result of the flexible vehicle model is also reasonably matches with the experimental result.</p><p><strong>Defence Science Journal, Vol. 66, No. 1, January 2016, pp. 19-25, DOI: http://dx.doi.org/10.14429/dsj.66.9201</strong></p>

scholarly journals Research on the Effects of Hydropneumatic Parameters on Tracked Vehicle Ride Safety Based on Cosimulation

2017 ◽  
Vol 2017 ◽  
pp. 1-10
Author(s):  
Shousong Han ◽  
Zhiqiang Chao ◽  
Xiangbo Liu
Keyword(s):  
Optimal Design ◽  
Multibody Dynamics ◽  
Tracked Vehicle ◽  
The Road ◽  
Suspension Parameters ◽  
Charge Pressure ◽  
Suspension Model ◽  
Test Verification ◽  
And Control ◽  
Evaluation Parameters

Ride safety of a tracked vehicle is the key focus of this research. The factors that affect the ride safety of a vehicle are analyzed and evaluation parameters with their criteria are proposed. A multibody cosimulation approach is used to investigate the effects of hydropneumatic parameters on the ride safety and aid with design optimization and tuning of the suspension system. Based on the cosimulation environment, the vehicle multibody dynamics (MBD) model and the road model are developed using RecurDyn, which is linked to the hydropneumatic suspension model developed in Lab AMESim. Test verification of a single suspension unit is accomplished and the suspension parameters are implemented within the hydropneumatic model. Virtual tests on a G class road at different speeds are conducted. Effects of the accumulator charge pressure, damping diameter, and the track tensioning pressure on the ride safety are analyzed and quantified. This research shows that low accumulator charge pressure, improper damping diameter, and insufficient track tensioning pressure will deteriorate the ride safety. The results provide useful references for the optimal design and control of the parameters of a hydropneumatic suspension.

Construction and Simulation of a 2S1 Tracked Vehicle Model and its Verification Using Vertical Forces on the Road Wheels while Overcoming a Single Obstacle

2011 ◽  
Vol 177 ◽  
pp. 168-176 ◽  
Author(s):  
Tomasz Nabagło ◽  
Andrzej Jurkiewicz ◽  
Marcin Apostoł ◽  
Piotr Micek
Keyword(s):  
Model Building ◽  
Ground Surface ◽  
Vehicle Model ◽  
Tracked Vehicle ◽  
The Road ◽  
Damping Characteristics ◽  
Value Estimation ◽  
Construction Tasks ◽  
On The Road ◽  
Dynamic Relationships

We present information about construction tasks of tracked vehicle model in MSC.ADAMS computer program. Kinematic and dynamic relationships inside entire suspension system are described here. Elements of the vehicle are grouped in few subsystems, like suspension, wheels or tracks. The significant accent is put on the tracks with its force connections. Those connections are between all track links as also between wheels, links and ground surface. Also significant accent are put on damping value estimation. It is estimated based on tolerance area of characteristics of real damper element, which is applied in this type of vehicles. In next part of the article, process of appropriate damping characteristics selection is described. This process is applied for high fidelity model building.

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