Multi-Body Dynamics Model of a Tracked Vehicle Using a Towing Winch for Optimal Mobility Control and Terrain Identification

2016 ◽  
Author(s):  
Joshua T. Cook ◽  
Laura Ray ◽  
James Lever
Keyword(s):  
Hydraulic System ◽  
Open Loop ◽  
Mobility Control ◽  
Dynamics Model ◽  
Tracked Vehicle ◽  
Loop Control ◽  
Power Load ◽  
Body Dynamics ◽  
Simulation Results ◽  
Multi Body

This paper presents a generalized, multi-body dynamics model for a tracked vehicle equipped with a winch for towing operations. The modeling approach couples existing formulations in the literature for the powertrain components and the vehicle-terrain interaction to provide a comprehensive model that captures the salient features of terrain trafficability. This coupling is essential for making realistic predictions of the vehicle’s mobility capabilities due to the power-load relationship at the engine output. Simulation results are presented jointly with experimental data to validate these dynamics under conditions where no action is taken by the winch. Extended modeling includes dynamics of the hydraulic system that powers the winch so that the limitation of the winch as an actuator and the load it puts on the engine are realized. A second set of simulation results show that for a set of open loop control actions by the winch, the vehicle is able to maintain its mobility in low traction terrain by paying the towed load in and out.

The Analysis of Amphibious Vehicle Handling Stability Based on ADAMS/Car

2014 ◽  
Vol 1006-1007 ◽  
pp. 294-297 ◽  
Author(s):  
Zhi Ming Yan ◽  
Jian Jun Cai ◽  
Su Qin Qu ◽  
Fang Fang Zhai ◽  
An Rong Sun ◽  
...  
Keyword(s):  
Input Pulse ◽  
Suspension System ◽  
Dynamics Model ◽  
Vehicle Handling ◽  
Rear Suspension ◽  
Front Suspension ◽  
Stability Performance ◽  
Body Dynamics ◽  
Simulation Results ◽  
Multi Body

In this paper, a multi-body dynamics model of amphibious vehicle is established in terms of dynamic simulative software ADAMS/Car. The front and rear suspension system are studied and analyzed respectively. The handling stability performance of front suspension is simulated under step steering input, pulse steering input, steady turning, and meandered test in related to specifications. According to the simulation results, the handling stability of amphibious vehicle is evaluated objectively.

Handling Stability Performance Simulation and Analysis of Three Different Vehicle Models

2010 ◽  
Vol 29-32 ◽  
pp. 750-755
Author(s):  
Shu Feng Wang ◽  
Hua Shi Li ◽  
Cui Hua He
Keyword(s):  
Lateral Acceleration ◽  
Dynamics Model ◽  
Vehicle Model ◽  
Performance Simulation ◽  
Vehicle Handling ◽  
Stability Performance ◽  
Body Dynamics ◽  
Nonlinear Vehicle Model ◽  
Simulation Results ◽  
Multi Body

In order to obtain accurate vehicle handling stability performance, 2 DOF nonlinear vehicle model and multi-body dynamics vehicle model are established. Selecting the same vehicle parameters, step steering angle input simulations of three vehicle model (include 2DOF linear vehicle model) are carried out under the same driving conditions, simulation results are analyzed and compared. The simulation results show that 2DOF linear model can characterize the steering states of vehicle when vehicle lateral acceleration is small, but when vehicle lateral acceleration is big, Nonlinear vehicle model and multi-body dynamics model is accurate.

Modeling and Simulation of Motorcycle Ride Comfort Based on Bump Road

2010 ◽  
Vol 139-141 ◽  
pp. 2643-2647 ◽  
Author(s):  
Dong Mei Yuan ◽  
Xiao Mei Zheng ◽  
Ying Yang
Keyword(s):  
Degrees Of Freedom ◽  
Ride Comfort ◽  
Lagrange Equation ◽  
Equations Of Motion ◽  
Vertical Displacement ◽  
Dynamics Model ◽  
Body Dynamics ◽  
Space Formulation ◽  
Simulation Results ◽  
Multi Body

Through analyzing the motion when motorcycle runs on the bump road, the 5-DOF multi-body dynamics model of motorcycle is developed, the degrees of freedom include vertical displacement of sprung mass, rotation of sprung mass, vertical displacement of driver, and vertical displacement of front and rear suspension under sprung mass. According to Lagrange Equation, the differential equations of motion and state-space formulation are derived. Then bump road is simulated by triangle bump, and input displacement is programmed by MATLAB. With the input of bump road, motorcycle ride comfort is simulated, and the simulation results are verified by experiment results combined with two channels tire-coupling road simulator. It indicates that the simulation results and experiment results match well; the 5-DOF model has guidance for development of motorcycle ride comfort.

Dynamic Simulation of Small Crawler Chassis Turning Based on RecurDyn

2013 ◽  
Vol 774-776 ◽  
pp. 195-198 ◽  
Author(s):  
Huai Feng Yang ◽  
Xiao Rong Lv
Keyword(s):  
Dynamic Simulation ◽  
Ground Model ◽  
Dynamics Model ◽  
Body Dynamics ◽  
Simulation Results ◽  
Multi Body

A multi-body dynamics model and ground model of a small crawler chassis was built on software RecurDyn/Track (LM). The simulations of the small crawler chassis turning on hard and soft terrain are implemented respectively, and the results are analyzed and compared. The steering properties of crawler chassis turning on soft terrain are emphasized. The simulation results can provide some theoretical guidance for crawler chassis steering performance.

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.

Track Tension Estimation in Tracked Vehicles Under Various Maneuvering Tasks

2000 ◽  
Vol 123 (2) ◽  
pp. 179-185 ◽  
Author(s):  
Kunsoo Huh ◽  
Daegun Hong
Keyword(s):  
Kinetic Models ◽  
Dynamics Model ◽  
Tractive Force ◽  
Tracked Vehicles ◽  
Body Dynamics ◽  
Turning Resistance ◽  
Simulation Results ◽  
Multi Body ◽  
Real Time Information ◽  
Time Information

In this paper, track tension monitoring methodology is developed so that the track tension can be estimated under various maneuvering tasks such as longitudinal driving on sloping and/or rough roads, turning on flat or sloping roads, etc. The real-time information of the track tension is very important for tracked vehicles because the track tension is closely related to the maneuverability and the durability of tracked vehicles. In the case of longitudinal driving, a modified 3 DOF dynamics model is derived for tracked vehicles and is utilized for estimating the tractive force and track tension. In the case of turning, kinetic models for six road-wheels are obtained and used for calculating the track tension around the sprocket. This method does not require tuning of the turning resistance, which makes it difficult to estimate the track tension in turning. The estimation performance of the proposed methods is verified through simulations of the Multi-Body Dynamics tool. The simulation results demonstrate the effectiveness of the proposed method under various maneuvering tasks of tracked vehicles.

Dynamic model of an air spring and integration into a vehicle dynamics model

2008 ◽  
Vol 222 (10) ◽  
pp. 1813-1825 ◽  
Author(s):  
F Chang ◽  
Z-H Lu
Keyword(s):  
Dynamic Model ◽  
Vehicle Dynamics ◽  
Simulation Method ◽  
Heat Transfer Process ◽  
Spring Model ◽  
Dynamics Model ◽  
Air Spring ◽  
Full Vehicle ◽  
Body Dynamics ◽  
Multi Body

It is worthwhile to design a more accurate dynamic model for air springs, to investigate the dynamic behaviour of an air spring suspension, and to analyse and guide the design of vehicles with air spring suspensions. In this study, a dynamic model of air spring was established, considering the heat transfer process of the air springs. Two different types of air spring were tested, and the experimental results verified the effectiveness of the air spring model compared with the traditional model. The key factors affecting the computation accuracy were studied and checked by comparing the results of the experiments and simulations. The new dynamic model of the air spring was integrated into the full-vehicle multi-body dynamics model, in order to investigate the air suspension behaviour and vehicle dynamics characteristics. The co-simulation method using ADAMS and MATLAB/Simulink was applied to integration of the air spring model with the full-vehicle multi-body dynamics model.

DUTY-CYCLED SPINNING BASED 3D MOTION CONTROL APPROACH FOR BEVEL-TIPPED FLEXIBLE NEEDLE INSERTION

2018 ◽  
Vol 18 (07) ◽  
pp. 1840017 ◽  
Author(s):  
QIN YAO ◽  
XUMING ZHANG
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Tracking Error ◽  
Open Loop ◽  
Loop Control ◽  
3D Motion ◽  
Control Approach ◽  
Target Error ◽  
The Mean ◽  
Simulation Results

Flexible needle has been widely used in the therapy delivery because it can advance along the curved lines to avoid the obstacles like important organs and bones. However, most control algorithms for the flexible needle are still limited to address its motion along a set of arcs in the two-dimensional (2D) plane. To resolve this problem, this paper has proposed an improved duty-cycled spinning based three-dimensional (3D) motion control approach to ensure that the beveled-tip flexible needle can track a desired trajectory to reach the target within the tissue. Compared with the existing open-loop duty-cycled spinning method which is limited to tracking 2D trajectory comprised of few arcs, the proposed closed-loop control method can be used for tracking any 3D trajectory comprised of numerous arcs. Distinctively, the proposed method is independent of the tissue parameters and robust to such disturbances as tissue deformation. In the trajectory tracking simulation, the designed controller is tested on the helical trajectory, the trajectory generated by rapidly-exploring random tree (RRT) algorithm and the helical trajectory. The simulation results show that the mean tracking error and the target error are less than 0.02[Formula: see text]mm for the former two kinds of trajectories. In the case of tracking the helical trajectory, the mean tracking error target error is less than 0.5[Formula: see text]mm and 1.5[Formula: see text]mm, respectively. The simulation results prove the effectiveness of the proposed method.

A Study on the Influence of Sun Gear Misalignment on Planet Load Sharing and Lifetime of Planetary Gear Using MSC.ADAMS

2015 ◽  
Vol 743 ◽  
pp. 99-106 ◽  
Author(s):  
Kyung Min Kang ◽  
Peng Mou ◽  
D. Xiang ◽  
Gang Shen
Keyword(s):  
3D Model ◽  
Estimation Method ◽  
Planetary Gear ◽  
Load Sharing ◽  
Dynamics Simulation ◽  
Dynamics Model ◽  
Geometry Model ◽  
3D Geometry ◽  
Body Dynamics ◽  
Multi Body

Misalignment on sun gear in planetary gear is easily occurred and it usually causes serious problem of work efficiency and lifetime with the change of planet load sharing. For study on the influence of sun gear misalignment on load sharing, multibody dynamics simulation is employed in this paper. First of all, 3D geometry model of planetary gear is built by Solidworks. Based on 3D model, multi-body dynamics model of planetary gear is built by MSC.ADAMS and calculate meshing forces between sun gear and planet gears with each type of sun gear misalignment which are angular, radial and axial type. Based on this meshing force result, load sharing factor is calculated and the results of influence of each misalignment type to load sharing factor is obtained. Finally, gear lifetime is estimated by AGMA gear fatigue strength estimation method with load sharing factor. According to the results, radial misalignment is the most influence to load sharing factor and gear lifetime.

A Multibody Dynamics Approach to Friction Wedge Modeling for Freight Train Suspensions

2007 ◽  
Author(s):  
J. Steets ◽  
B. J. Chan ◽  
C. Sandu
Keyword(s):  
Degrees Of Freedom ◽  
Vertical Axis ◽  
Vertical Displacement ◽  
Unilateral Contact ◽  
Transient Dynamics ◽  
Normal Forces ◽  
Body Dynamics ◽  
Modeling Software ◽  
Simulation Results ◽  
Multi Body

This paper presents an effort to use multi-body dynamics with unilateral contact to model the friction wedge interaction with the bolster and the side frame. The new friction wedge model is a 3D, dynamic, stand-alone model of a bolster-friction wedge-side frame assembly. It allows the wedge four degrees of freedom: vertical displacement, longitudinal (between the bolster and the side frame) displacement, toe-in and toe-out, and yaw (rotation about the vertical axis). The dedicated train modeling software NUCARS® has been used to run simulations with similar inputs and to compare — when possible — the results with those obtained from the new stand-alone MATLAB friction wedge model. The stand-alone model shows improvement in capturing the transient dynamics of the wedge better. Also, it can predict not only normal forces going into the frame and bolster, but also use the associated moments to enhance model behavior. Significant simulation results are presented and the main differences between the current NUCARS® model and the new stand-alone MATLAB models are highlighted.

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