Refined Dynamics Modeling and Simulation of Special Tracked Vehicles

doi:10.12382/bgxb.2022.1070

Abstract

Abstract:

The tracked vehicle dynamics model serves as a foundation for the design of vehicle structure optimization and the development, testing and calibration of control algorithms. However, the user is unaware of the dynamic equations and gradient information of the model created using commercial software, which significantly lowers the efficiency of the optimization of structural parameters and control parameters. Additionally, the poor real-time performance and low solving efficiency of the currently available commercial software have an impact on the development and porting of control algorithm. An improved dynamic model of tracked vehicles, which can satisfy the needs of vertical and horizontal coupling motion simulation, is constructed and simulated based on the derivation of multibody dynamics in order to address the aforementioned issues. A dynamic model of vehicle body considering the three-dimensional coupling motion of space and a dynamic model of track chain including track link are established. By calculating the interaction force between the track links and other components, the vehicle body model, the track chain model and the ground are related, and finally a track vehicle dynamic model with 190 degrees of freedom is constructed. It was compared to the ADAMS Tracked Vehicle Toolkit (ATV) in terms of acceleration, braking, and steering. The simulated results of the proposed simulation model are remarkably compatible with those of commercial software, confirming the accuracy of the approach.

Key words: tracked vehicle, multibody dynamics, refined modeling, track chain model, dynamic modeling simulation

CLC Number:

TJ810.2

WU Rui, YU Huilong, DONG Haotian, XI Junqiang. Refined Dynamics Modeling and Simulation of Special Tracked Vehicles[J]. Acta Armamentarii, 2024, 45(5): 1384-1401.

Figures/Tables 17

References 22

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参数	最大误差绝对值	误差均方根
纵向位移/m	5.290×10^-1	3.521×10^-2
纵向速度/(m·s^-1)	1.249×10^-1	9.895×10^-3
垂向位移/m	3.389×10^-3	2.346×10^-4
垂向速度/(m·s^-1)	4.547×10^-2	1.582×10^-3
俯仰角/rad	7.124×10^-3	5.162×10^-4
俯仰角速度/(rad·s^-1)	2.672×10^-2	9.156×10^-4

参数	最大误差绝对值	误差均方根
纵向位移/m	5.290×10^-1	3.521×10^-2
纵向速度/(m·s^-1)	1.249×10^-1	9.895×10^-3
垂向位移/m	3.389×10^-3	2.346×10^-4
垂向速度/(m·s^-1)	4.547×10^-2	1.582×10^-3
俯仰角/rad	7.124×10^-3	5.162×10^-4
俯仰角速度/(rad·s^-1)	2.672×10^-2	9.156×10^-4

参数	最大误差绝对值	误差均方根
纵向位移/m	1.554×10^-1	1.471×10^-2
纵向速度/(m·s^-1)	1.083×10^-1	5.511×10^-3
垂向位移/m	5.163×10^-3	2.680×10^-4
垂向速度/(m·s^-1)	4.274×10^-2	1.124×10^-3
俯仰角/rad	5.738×10^-3	4.401×10^-4
俯仰角速度/(rad·s^-1)	1.754×10^-2	7.596×10^-4

参数	最大误差绝对值	误差均方根
纵向位移/m	1.554×10^-1	1.471×10^-2
纵向速度/(m·s^-1)	1.083×10^-1	5.511×10^-3
垂向位移/m	5.163×10^-3	2.680×10^-4
垂向速度/(m·s^-1)	4.274×10^-2	1.124×10^-3
俯仰角/rad	5.738×10^-3	4.401×10^-4
俯仰角速度/(rad·s^-1)	1.754×10^-2	7.596×10^-4

参数	最大误差绝对值	误差均方根
纵向位移/m	2.119×10^-1	9.132×10^-3
纵向速度/(m·s^-1)	1.614×10^-1	6.746×10^-3
横向位移/m	5.422×10^-2	3.147×10^-3
横向速度/(m·s^-1)	1.085×10^-1	4.212×10^-3
横摆角/rad	6.198×10^-2	2.893×10^-3
横摆角速度/(rad·s^-1)	1.000×10^-1	2.329×10^-3