Structural Engineering and Mechanics

Techno-Press (테크노프레스)
권호 표지
DOI QR코드

DOI QR Code

A recursive multibody model of a tracked vehicle and its interaction with flexible ground

  • Han, Ray P.S. (Department of Mechanical Engineering, The University of Iowa) ;
  • Sander, Brian S. (Henderson Engineers Incorporated) ;
  • Mao, S.G. (Department of Mechanical Engineering, The University of Iowa)
  • Published : 2001.02.25
⟨ Previous Next ⟩

Abstract

A high-fidelity model of a tracked vehicle traversing a flexible ground terrain with a varying profile is presented here. In this work, we employed a recursive formulation to model the track subsystem. This method yields a minimal set of coordinates and hence, computationally more efficient than conventional approaches. Also, in the vehicle subsystem, the undercarriage frame is assumed to be connected to the chassis by a revolute joint and a spring-damper unit. This increase in system mobility makes the model more realistic. To capture the vehicle-ground interaction, a Winkler-type foundation with springs-dampers is used. Simulation runs of the integrated tracked vehicle system for vibrations for four varying ground profiles are provided.

Keywords

References

  1. Bae, D.S. and Haug, E.J. (1987), "A recursive formulation for constrained mechanical system dynamics. Part II: closed loop systems", Mechanics of Structures and Machines, 15.
  2. Creighton, D.C. (1986), "Revised vehicle dynamic module: User's guide for computer program VEHDYN II", WES Technical Report No. SL-86-9, U.S. Army Engineer Waterways Experiment Station, Vicksburg, MS.
  3. Dhir, A. and Sankar, S. (1994), "Analytical track models for ride dynamic simulation of tracked vehicles", Journal of Terramechanics, 31.
  4. Galaitsis, A.G. (1984), "TRAXION: A model for predicting dynamic track loads in military vehicles", ASME Trans, Journal of Vibration, Acoustics, Stress Reliability in Design, 106.
  5. Han, Ray P.S. and Zhao, Z.C. (1990), "Dynamics of general flexible multibody systems", International Journal for Numerical Methods in Engineering, 30, 77-97. https://doi.org/10.1002/nme.1620300106
  6. Han, Ray P.S. and Mao, S.G. (1998), "Development of an integrated cab-chassis-undercarriage model for a flexible ground terrain", Report #3, John Deere Dubuque Works, Dubuque, IA.
  7. Han, Ray P.S. and Mao, S.G. (1999), "Hamilton equation-based symplectic finite element modeling of flexible multibodies undergoing large overall motion", IMechE, Journal of Multibody Dynamics, June (submitted).
  8. Han, Ray P.S., S.G. Mao and Brian S. Sander (1999), "Multibody dynamic modeling of a tracked vehicle traversing a flexible ground terrain with a varying profile", Proceedings of DAS 1999 at the Fourth Asia- Pacific Conference on Computational Mechanics, Singapore, December 13-17.
  9. McCullough, M.K., and Haug, E.J. (1985), "Dynamics of high mobility track vehicles", ASME Paper No. 85- DET-95.
  10. Murphy, N.R. and Ahlvin, R.B. (1976), "Vehicle dynamics module", Technical Report No. M-76-1, US Army Engineer Waterways Experiment Station, Vicksburg, MS.
  11. Nakanishi, T. and Shabana, A. (1994a), "Contact forces in the non-linear dynamic analysis of tracked vehicles", International Journal for Numerical Methods in Engineering, 37.
  12. Nakanishi, T. and Shabana, A. (1994b), "On the numerical solution of tracked vehicle dynamic equations", Nonlinear Dynamics, 6.
  13. Sander, B.S. (1998), "A recursive model for the dynamic simulation of a tracked vehicle undercarriage", M.S. Thesis, The University of Iowa, Iowa City, IA.