Highlights The paper presents a simple, reliable and fast dynamics model of off-road track vehicle. The numerical model was formulated by a new method – DBD (Discrete Body Dynamics). The proposed method was demonstrated using an M113 track vehicle. The time computation of the new code was faster compared with that obtained from commercial Multi-Body Dynamic programs. The method is simple enough to be used in prediction of trafficability for off-road applications.
Abstract The paper presents a simple, fast, and reliable dynamic model for an off-road track vehicle operating on terrain with obstacles. The method has been proven previously for wheeled-vehicle formulation. The model is based on a discrete body dynamics (DBD) method, which leads to simplistic linear decoupled motion equations. In this method, joints and bodies with relatively small mass are replaced with stiff springs and dampers, eliminating the system’s constraints and reducing the number of system bodies; this is important for accelerating the simulation runtime of the track vehicle model. The track in this approach is based on modeling each link as a point-mass. Two consecutive links are connected by stiff springs and dampers. This approach reduces the calculation time and increases system stability. The track–soil interaction was modeled using Bekker’s and Janosi’s formulation (Bekker, 1956; Hanamoto and Janosi, 1961). Specific soil properties were obtained for each link–soil interaction from soil classification and GIS. The link–ground contact was determined from topographic surface and adjustment of the force and direction acting on the track. The results of the simulation using the DBD method were compared with Siemens' VL commercial multibody dynamics program and with experiments reported in the literature. Results using the proposed method were found to be similar to the commercial program based on published experiments. The solution runtimes obtained for unpaved soil were two orders faster with the DBD method compared with the Siemens' VL program. The model was written as an independent software infrastructure, enabling easy integration with any other software component, such as a control system. The algorithm is in a suitable form for parallel processing calculation to speed up the runtime simulation close to real-time.
Fast dynamic modeling for off-road track vehicles
Journal of Terramechanics ; 92 ; 1-12
2020-09-09
12 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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