Longitudinal and Vertical Coupled Dynamic Model and Power Characteristics of Tracked Vehicle

doi:10.3969/j.issn.1000-1093.2021.03.001

Abstract

Abstract: The dynamics of tracked vehicle in the off-road condition is the basis of the prediction of the off-road driving ability. A longitudinal and vertical coupled dynamic modeling method of tracked vehicle is presented，in which the coupling effect of longitudinal and vertical motion of high speed tracked vehicle is considered. A vehicle coupling dynamic model is established. The driving performance of vehicle on the typical road was simulated and verified in the real vehicle test. On this basis，the power flow characteristics of the tracked vehicle were analyzed. The simulated results indicate that the proposed model can be used to calculate the influence of the different road conditions on the vehicle driving performance. In the off-road condition，the road roughness makes the body vertical，pitching and other movements consume part of the power，and then have a certain impact on the speed of the vehicle. The instantaneous non-driving power of the tracked vehicle fluctuates widely. With the deterioration in the road conditions and the increase in speed，the ratio of non-driving power to total input power increases.The demand for the total power increases，which limits the effective use of the driving power.The results can be used for the dynamic model construction and the power flow analysis of high-speed tracked vehicles.

Key words: trackedvehicle, couplingdynamicmodel, longitudinalandverticalcoupling, powercharacteristics, off-roadcondition, powerflow

CLC Number:

TJ810.2

LI Chunming, WU Wei, GUO Zhiqiang, YUAN Shihua, CHEN Si. Longitudinal and Vertical Coupled Dynamic Model and Power Characteristics of Tracked Vehicle[J]. Acta Armamentarii, 2021, 42(3): 449-458.

References ［1］

［1］

ZHU J J，KHAJEPOUR A，ESMAILZADEH E，et al. Ride quality evaluation of a vehicle with a planar suspension system[J].Vehicle System Dynamics，2012，50(3):395-413.[2］ ZHANG Y X，ZHANG X J，ZHAN M，et al.Study on a novel hydraulic pumping regenerative suspension for vehicles[J].Journal of the Franklin Institute，2015，352(2):485-499.[3］ MURPHY N R，AHLVIN R B.AMC-74 vehicle dynamics module[R].Vicksburg，MS，US:U.S.Army Engineer Waterways Experiment Station，1976:1-52.[4］ MCCULLOUGH M K，HAUG E J.Dynamics of high mobility track vehicles[J].Journal of Mechanical Design，1986，108(2):189-196.[5］ RAKHEJA S，AFONSO M F R，SANKAR S.Dynamic analysis of tracked vehicles with trailing arm suspension and assessment of ride vibrations[J].International Journal of Vehicle Design，1992，13(1):56-77.[6］ DHIR A，SANKAR S.Ride dynamics of high-speed tracked vehicles:simulation with field validation[J]. Vehicle System Dyna-mics， 1994，23(1):379-409.[7］ MA Z D，PERKINS N C.A track-wheel-terrain interaction model for dynamic simulation of tracked vehicles[J].Vehicle System Dynamics，2002，37(6):401-421.[8］ MATEJ J.Terrain-adaptive auxiliary track tensioning system for tracked vehicles[J].Journal of Computational & Nonlinear Dynamics，2013，8(3):031013.[9］王红岩，陈冰，芮强，等.集中载荷作用下的履带车辆稳态转向分析与试验[J].兵工学报，2016，37(12): 2196-2204.WANG H Y，CHEN B，RUI Q，et al.Analysis and experiment of steady-state steering of tracked vehicle under concentrated load[J].Acta Armamentarii，2016，37(12):2196-2204. (in Chinese)[10］ ATA W G，OYADIJI S O.An investigation into the effect of suspension configurations on the performance of tracked vehicles traversing bump terrains[J].Vehicle System Dynamics，2014，52(7): 969-991.[11］ LI Y L，TANG C.Research on coupled dynamic model of tracked vehicles and its solving method[J].Mathematical Problems in Engineering，2015(5):1-10.[12］丁法乾.履带式装甲车辆悬挂系统动力学[M].北京：国防工业出版社，2004.DING F Q.Dynamic of tracked armored vehicle suspension system[M].Beijing:National Defense Industry Press，2004.(in Chinese)[13］王克运，张相洪，史力晨，等.履带车辆越障过程的动力学仿真[J].兵工学报，2005，26(5):577-583.WANG K Y，ZHANG X H，SHI L C，et al.Dynamic simulation of tracked vehicle acorss obstacle[J].Acta Armanentarii，2005，26(5): 577-583.(in Chinese)[14］史力晨，王良曦，张兵志. 高速履带车辆悬挂系统动力学仿真[J].系统仿真学报，2004，16(7):1429-1432.SHI L C，WANG L X，ZHANG B Z.Dynamic simulation of high-speed tracked vehicle suspension system[J].Journal of System Simulation，2004，16(7):1429-1432.(in Chinese)[15］马星国，李方贵，尤小梅.履带车辆悬挂系统当量化及车辆平面数学模型建立[J].机械工程学报，2015，51(18):143-150.MA X G，LI F G，YOU X M.Equivalent method of suspension system and the establishing of mathematical modeling of tracked vehicle[J].Journal of Mechanical Engineering，2015，51(18):143-150.(in Chinese)[16］朱兴高，顾亮.履带对地面的包络特性研究[J].北京理工大学学报，2016，36(1):48-52.ZHU X G，GU L.Research on envelope characteristics of the track on ground[J].Transaction of Beijing Institute of Technology，2016，36(1):48-52.(in Chinese)[17］ REINA G，MESSINA A.Vehicle dynamics estimation via augmented extended Kalman filtering[J].Measurement，2019，133:383-395. [18］张征，刘春光，马晓军，等.一种基于数据融合的全轮驱动车辆质心侧偏角估计方法[J].兵工学报，2020，41(5):842-849.ZHANG Z，LIU C G，MA X J，et al.Method for estimating sideslip angle of all-wheel drive vehicle based on data fusion[J].Acta Armamentarii，2020，41(5):842-849.(in Chinese)[19］余志生.汽车理论[M].北京：机械工业出版社，2018.YU Z S.Automobile theory[M].Beijing:China Machine Press，2018.(in Chinese)[20］汪明德，赵毓芹，祝嘉光.坦克行驶原理[M].北京：国防工业出版社，1983.WANG M D，ZHAO Y Q，ZHU J G.Theory of tank locomotion[M].Beijing:National Defense Industry Press，1983.(in Chinese)[21］李博.高速履带车辆推进系统最优加速能力优化匹配方法研究[D].北京：北京理工大学，2018.LI B.Research on matching method of optimal acceleration performance of high speed tracked vehicle propulsion system[D].Beijing:Beijing Institute of Technology，2018.(in Chinese)

[1]	PAN Zuodong, ZHOU Yue , GUO Wei, XU Gaofei, SUN Yu. Path Planning of Tidal Flat Tracked Vehicle Based on CB-RRT^* Algorithm [J]. Acta Armamentarii, 2024, 45(4): 1117-1128.
[2]	YUAN Yi， GAI Jiangtao， ZENG Gen， ZHOU Guangming， LI Xunming， MA Changjun. Analysis and Experimental Verification of Yaw Motion Response Characteristics of High-speed Tracked Vehicle [J]. Acta Armamentarii, 2024, 45(4): 1094-1107.
[3]	LIU Qingxiao, TANG Zeyue, ZHANG Chaopeng, LIU Hai'ou, CHEN Huiyan. Research on GMM-HSMM-based Longitudinal Decision-making System for Two-side Independent Electric Unmanned TrackedPlatform [J]. Acta Armamentarii, 2022, 43(8): 1733-1743.
[4]	ZHANG Wei， LIU Hui， HAN Lijin， LIU Baoshuai， ZHANG Xun， ZHANG Wannian. Intelligent Control Strategy of Electromechanical Braking for Hybrid Tracked Vehicle [J]. Acta Armamentarii, 2022, 43(5): 969-981.
[5]	WANG Boyang, GUAN Haijie, GONG Jianwei, CHEN Huiyan, ZHAO Huijing. Unified Motion Planning Method for Heterogeneous Tracked Vehicles [J]. Acta Armamentarii, 2022, 43(2): 241-251.
[6]	XU Baorong, WANG Tao, LIANG Zi. Generating Method and Process of Load Spectra for Tracked Vehicles Based on Prediction of Manipulating Action [J]. Acta Armamentarii, 2022, 43(2): 252-259.
[7]	YANG Shuyi, LIAO Lili, QIN Lingyun, DAI Juchuan, CHEN Zhewu, HE Xingyun, TONG Ningke. Tracked Vehicle Vibration Test System Based on Optimal Sensor Arrangement [J]. Acta Armamentarii, 2022, 43(12): 2989-2999.
[8]	MA Guangyuan, CHEN Huiyan. Engine Control Technology of Unmanned Track Platforms [J]. Acta Armamentarii, 2022, 43(11): 2717-2726.
[9]	ZHANG Chaopeng, LIU Qingxiao, DONG Haotian, CHEN Huiyan, XI Junqiang. Coordinated Control of Electric-mechanical Braking System for Unmanned Tracked Vehicles [J]. Acta Armamentarii, 2022, 43(11): 2727-2737.
[10]	TAN Yingqi, XU Jingyi, XIONG Guangming, LI Zirui, CHEN Huiyan. Energy Management Optimization for Hybrid Electric Unmanned Tracked Vehicles Based on Path Planning UsingCNN-LSTM Prediction [J]. Acta Armamentarii, 2022, 43(11): 2738-2748.
[11]	LI Rui， XIANG Changle， WANG Chao， FAN Jingjing， LIU Chunlin. Robust Adaptive Trajectory Tracking Control Approach for Autonomous Tracked Vehicles [J]. Acta Armamentarii, 2021, 42(6): 1128-1137.
[12]	ZHANG Jie, MA Xiaojun, LIU Chunguang, YUAN Dong, ZHANG Yunyin. Feedback Linearization Decoupling and Predictive Driving Control for Dual Independent Electric Drive Tracked Vehicle [J]. Acta Armamentarii, 2021, 42(4): 697-705.
[13]	ZHAO Yidong, CHEN Huiyan, HU Jiaming. Control Method for AMT Shifting of a Shift-by-wire Bilateral Electric Drive Tracked Vehicle [J]. Acta Armamentarii, 2021, 42(3): 459-467.
[14]	GAI Jiangtao， LIU Chunsheng， MA Changjun， SHEN Hongji. Steering Control of Electric Drive Tracked Vehicle Considering Tracks' Skid and Slip [J]. Acta Armamentarii, 2021, 42(10): 2092-2101.
[15]	LIU Cong， LIU Hui, HAN Lijin, CHEN Ke. High-speed Obstacle Avoidance and Stability Control of Distributed Electric Drive Vehicle under Extreme Off-road Conditions [J]. Acta Armamentarii, 2021, 42(10): 2102-2113.