Papers by Keyword: Tracked Vehicle

Abstract: The work presents simulation method of dynamic properties used as assistance in the construction process of suspension systems for high-speed tracked vehicles. Special consideration has been given to the real-time coupling of virtual models with the dynamic response of actual elastic-damping elements of the vehicles. An original design method has been proposed. The method is characterized by the fact that each of the design stages are not performed sequentially, but are parallel to each other and that at each level, mutual coupling between the tasks of the design process occurs. The proposed simulation method using the dSpace system is based on the integration of virtual environment such as LMS Virtual Lab or MATLAB/Simulink with the actual object such as a damper, by means of dedicated input/output devices operating in real time. The method developed in the work allowed for an extension of the classic co-simulations, that is, simulations in two coupled virtual environments, to include an actual component or, rather – its dynamic – often non-linear – characteristic, its response to excitation. The method developed in the work allowed for an extension of the classic co-simulations, that is, simulations in two coupled virtual environments, to include an actual component or, rather – its dynamic – often non-linear – characteristic, its response to excitation.The developed test method and the computer programs have been verified by means of experimental measurements of the dynamic characteristics of the actual object during test-ground tests and in the laboratory. The obtained results of the simulations and experiments allow to confirm the validity of the assumed thesis, which has been included in the summary.

Abstract: A 3 DOF lumped mass tracked vehicle model was constructed in Matlab Simulink Environment and used for positioning the vehicle on gradients and missile firing operations. Pitch center, roll center and system parameters such as equivalent stiffness values, equivalent damping values and equivalent mass/inertias of 3 DOF model were obtained from 32+ degrees of freedom tracked vehicle model by simulations. Moments in pitch and roll directions were applied to the vehicle to find the pitch and roll centers. A range of step forces in bounce direction and a range of step moments in pitch and roll directions were applied to the vehicle and responses in the related directions of 32+ degrees of freedom model were used to determine the system parameters of 3-DOF model. Finally attitude of the vehicle on the gradients and missile firing scenario were simulated with both models and the results showed that 3 DOF model reasonably predicts the behavior of the tracked vehicle.

Abstract: The new all-terrain mobile platform can improve the human mobility in non-structure environment, which is mainly determined by the walking mechanism quality. In this paper, the walking mechanism structure is designed, and its working principle is analyzed. Theoretical analysis and parameter optimization are completed during the parameter design of the tracked circle, which verifies the parameter rationality of the self-tension mechanism. Besides, the dynamic analysis of the multi-degree of freedom suspension system is accomplished. The results show that the structure and parameter design of the walking mechanism is available, which provides theoretical basis for the new mobile platform parametric design.

Abstract: In the article, a new solution of a semi-active suspension system is presented. It is based on a sky-hook strategy model. This solution in 2S1 tracked platform is applied to improve body vehicle stability and driving comfort. The solution is applied in two versions of the 2S1 vehicle suspension model. First one is a basic model. This suspension is based on existing construction of the 2S1 platform suspension. It is based on torsion bars. Second one is a modified model, based on spiral torsion springs. In this model a new solution of idler mechanism is applied. It provides constant tension of the tracks. Semi-active suspensions simulations results are compared with results of models with passive versions of the suspension to highlight the improvement level. Simulations are conducted in the Yuma Proving Ground conditions. Results of all models simulations are compared and analyzed to improve stability and comfort level in conditions of the modern battlefield. Stability level is analyzed for weapon aiming tasks. Comfort level is analyzed for the vehicle crew efficiency.

Abstract: The steering mechanism of tracked vehicles is complicated and large, which is an obstacle for its miniaturization. According to the theory of rubber-belt CVTs, a new kind of steering mechanism for small Tracked vehicle is designed. The mechanism consists of two symmetrical-layout rubber-belt CVTs. A sliding part for steering is designed, which can slide axially to make the transmission ratio of one transmission increase while the other reduces, so that the tracked vehicle turns. The steering motion is calculated and its motion discipline is founded. The steering sensitivity and steering smoothness are analyzed, and its steering performance is evaluated.

Abstract: In-arm hydro-pneumatic suspension unit (ISU) is a kind of hydro-pneumatic suspension, it has been researched for 30 years. Nowadays, there are three companies in mass production of ISU. In this paper, the growth and ISU products of these companies are introduced, the main characteristics of ISU are discussed, and the main application of the hydro-pneumatic suspensions are presented.

Abstract: A half tracked vehicle model was established based on LMS, a co-simulation interface between control algorithm of MATLAB and physical model of LMS was set up. Fuzzy controller with PID regulator was proposed to achieve controlling strategy based on half tracked vehicle model. With suspension stroke and its change rate as input parameters of fuzzy controller, the dynamic adjusting parameters of PID controller are acquired through fuzzy controller, then a semi-active suspension vehicle adaptive control system was formed. The simulation result shows that the adaptive control system can effectively coordinate the contradiction acceleration and dynamic travel in different bands, the ride comfort tracked vehicle is significantly improved.

Abstract: In order to diagnose the fault, the fault of the unnormal automatic shift function of tracked vehicle is diagnosed by the FTA-FMEA method, according to the step of determine the top event, FTA(Fault Tree Analysis) qualitative analysis, self-checking and self-repairing by the user unit, FMEA(Failure Mode and Effects Analysis) analysis and locate the fault. The conclusion of the study can be conveniently guiding self-repairing by the user unit or repairing by the next higher level repair unit. Practice has proved, this method is simple and feasible, with high accuracy, has very important significance to guide the tracked vehicle repair.

Abstract: This paper discussed the possibility of deploying the proposed Variable Geometry Tracked Vehicle (VGTV) in our first robotic based prototype called REC-01. REC-01 is being developed as a miniature scouting and search & rescue all-terrain robotic vehicle. Its comparatively small size and mass limit its power capacity and navigational capabilities for larger obstacles. The VGTV is a unique concept used to overcome these shortcomings. The main part of this paper is to discuss the mechanical efficiency of the tracked systems in some specific field conditions and compare the results with the conventional tracked propulsion. The outcomes of the first prototype are also briefly discussed in this paper.

Abstract: The research object is the motion attitude of the high-speed tracked vehicles climbing over the vertical wall. The new calculation method is used in calculating certain parameters of the equation and establishing the equation of driving characteristics. The changing equations of the pitch angle and roll angle when the high-speed tracked vehicles crossing the obstacles can be obtained. The analysis results show that the motion attitude when the high-speed tracked vehicles crossing the obstacles is related to the terrain parameters, the tracked vehicle parameters, the initial velocity when crossing the obstacles, and the motion attitude can be expressed by the mathematics equations. These results provide the research-based and the theory support for the modal and analysis of the high-speed tracked vehicles crossing over the obstacles, which have high practical value.