Planar Multi-body Dynamics of a Tracked Vehicle using Imaginary Wheel Model for Tracks
Off-road vehicles achieve their mobility with the help of a track system. A track has large number of rigid bodies with pin joints leading to computational complexity in modelling the dynamic behaviour of the system. In this paper, a new idea is proposed, where the tracks are replaced by a set of imaginary wheels connected to the road wheels using mechanical links. A non-linear wheel terrain interaction model considering longitudinal slip is used to find out the normal and tangential contact forces. A linear trailing arm suspension, where a road arm connecting the road wheel and chassis with a rotational spring and damper system is considered. The differential algebraic equations (DAEs) from the multi-body model are derived in Cartesian coordinates and formulated using augmented formulation. The augmented equations are solved numerically using appropriate stabilisation techniques. The novel proposition is validated using experimental measurements done on a tracked vehicle.
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