A Super-Element of Track-Wheel-Terrain Interaction for Dynamic Simulation of Tracked Vehicles

The objective of this investigation is to develop a general procedure for predicting the dynamic stresses when the nonlinear floating frame of reference formulation is used to model flexible components in multibody system applications. The procedure utilizes the concept of the floating frame of reference intermediate finite element coordinate system and the general continuum mechanics approach to develop accurate definitions of the floating frame of reference kinematic equations that enter into the formulations of the strains. These general equations are used to design a computational algorithm for the calculation of the dynamic stresses. In order to demonstrate the use of the procedure developed in this investigation for the stress prediction, a tracked vehicle system is used as the study model. Taking into consideration the actual endurance test, a model for a bulldozer upper structure is developed using computer aided engineering solution framework which includes flexible multibody system algorithms. In order to obtain the dynamic stresses, the flexible structure of the tracked vehicle is modeled using Mindlin shell finite elements. The equations of motion are developed using the finite element/floating frame of reference formulation that allows for effectively reducing the number of degrees of freedom by neglecting high-frequency modes of vibration using component mode synthesis techniques. The stresses are obtained using a procedure that takes into consideration the dynamic coupling between the rigid body motion and the elastic deformations. The use of the general continuum mechanics theory to formulate the strain and stress equations allows for applying the procedure developed in this paper to other element types. Kinematic relationships are used to formulate several components and elements of the undercarriage including the idler cushion system and the maximum reverse angle. Numerical results are presented in order to demonstrate the use of the general floating frame of reference procedure in the stress analysis of the tracked vehicle undercarriage system.

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“…Using this equation, the inertia shape integrals of equation (12) can be expressed in the lumped mass form as follows…”

Section: Sasaki and Shabanamentioning

confidence: 99%

Prediction of dynamic stresses using flexible multibody system algorithms: Application to tracked vehicle upper structure

Sasaki

Shabana

2014

Proceedings of the Institution of Mechanical Engineers, Part K:

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“…For a review of the major tracked vehicle modelling efforts from 1950 onwards see (Ma and Perkins, 2002). The earliest attempts at simulating the dynamic interactions between a tracked vehicle and terrain adopted semi-empirical terramechanics models with specialised formulations of the equations of motion for tracked vehicles (e.g., see Dhir and Sankar, 1995).…”

Section: Introductionmentioning

confidence: 99%

“…Recently, multibody models which can account for the dynamic behaviour of the track chains and belts have been proposed (Ma and Perkins, 2006;Rubinstein and Hitron, 2004;Solis and Longoria, 2008;Yamakawa and Watanabe, 2004). For example, Ma and Perkins (2006) considered an approach which integrates a set of road wheels, the track, and the terrain into a single finite element super element which returns as output the forces and moments acting on the respective road wheels.…”

Section: Introductionmentioning

confidence: 99%

“…For example, Ma and Perkins (2006) considered an approach which integrates a set of road wheels, the track, and the terrain into a single finite element super element which returns as output the forces and moments acting on the respective road wheels. They investigated the effects of dynamic remeshing of the super elements to improve simulation accuracy.…”

Section: Introductionmentioning

confidence: 99%

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Integration of ANCF continuum-based soil plasticity for off-road vehicle mobility in multibody system dynamics

Contreras

Recuero²,

Jayakumar

et al. 2017

IJVP

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Abstract:In this paper, we outline the formulation and implementation of an inelastic continuum-based soil model in a multibody system (MBS) simulation environment. The generality of the approach allows for the simulation of general vehicle manoeuvres over unprepared terrain. Unlike other approaches, both the material and vehicle in this investigation can be altered independently. This ability allows for a greater degree of freedom in the design of computational models for the evaluation of off-road tracked vehicles. In this investigation, the soil model is developed using a hexahedral absolute nodal coordinate formulation (ANCF) finite element. The Drucker-Prager plastic material is used to model the behaviour of the soil and offers a good starting point for computational plasticity in terramechanics applications. A convergence study for a single link interacting with ANCF soil is provided. The capabilities and generality of this implementation is demonstrated using an armoured personnel carrier (APC) model. Keywords: flexible multibody systems; MBS; multibody system; tracked vehicles; mobility; ANCF; absolute nodal coordinate formulation; terramechanics; computational plasticity; geomechanics.Reference to this paper should be made as follows: Contreras, U., Recuero, A.M., Jayakumar, P., Foster, C.D., Letherwood, M.D., Gorsich, D.J. and Shabana, A.A. (2017) 'Integration of ANCF continuum-based soil plasticity for off-road vehicle mobility in multibody system dynamics', Int.

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“…The interaction between the track and terrain was modeled using simple soil mechanics based forces. (Ryu, Bae, Choi, & Shabana, 2000) created a three-dimensional multibody model similar to that by (Ma & Perkins 2006) and (Madsen 2007), except that the vehicle has a compliant track chain. The revolute joints which connect track links with their neighbors were replaced with compliant force elements which were described by stiffness and damping values.…”

Section: Introductionmentioning

confidence: 99%

Modular Multibody Formulation for Simulating Off-Road Tracked Vehicles

Omar

2014

SET

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This paper presents a formulation and procedure for incorporating the multibody dynamics analysis capability of tracked vehicles in large-scale multibody system. The proposed self-contained modular approach could be interfaced to any existing multibody simulation code without need to alter the existing solver architecture. Each track is modeled as a super-component that can be treated separate from the main system. The super-component can be efficiently used in parallel processing environment to reduce the simulation time. In the super-component, each track-link is modeled as separate body with full 6 degrees of freedom (DoF). To improve the solution stability and efficiency, the joints between track links are modeled as complaint connection. The spatial algebra operator is used to express the motion quantities and develop the link's nonlinear kinematic and dynamic equations of motion. The super-component interacts with the main system through contact forces between the track links and the driving sprocket, the support rollers and the idlers using self-contained force modules. Also, the super-component models the interaction with the terrain through force module that is flexible to include different track-soil models, different terrain geometries, and different soil properties. The interaction forces are expressed in the Cartesian system, applied to the link's equation of motion and the corresponding bodies in the main system. For sake of completeness, this paper presents dynamic equations of motion of the links as well as the main system formulated using joint coordinates approach. 78Accounting for the distributed nonlinear inertia forces of the track is another challenge in modeling tracks using spatial multibody codes.Some CSP have developed multibody dynamic simulation capabilities for modeling metal tracks (MSC Software, 2007). Most of these implementations simplify the contact detection algorithms by using primitive geometries for modeling the contacting bodies leading to less accurate force prediction. Other CSP utilized general purpose algorithms for modeling tack-link dynamics and the contact detection is based on full CAD geometry leading to computationally intensive simulation and time consuming analysis. Other packages implemented a simplified representation of the tracks using pre-computed parameters and pre-determined track-link path. Although the computational efficiency greatly improved, the inertial link dynamics and contact forces are not captured accurately. McCullough and Haug 1985 proposed one of the early models for tracked vehicles. The equations of motion for the vehicle, suspension system and road wheels were derived. A mechanical system super-element that represents spatial dynamics of high mobility track vehicle suspension systems was derived. The track was represented as a complex internal force element that acts between ground, wheels, and the chassis of the vehicle. Track tension was computed from a relaxed catenary. Vol. 1, No. 2; 2014 80 Studies in Engineering and Technology ...

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A Super-Element of Track-Wheel-Terrain Interaction for Dynamic Simulation of Tracked Vehicles

Cited by 27 publications

References 13 publications

Prediction of dynamic stresses using flexible multibody system algorithms: Application to tracked vehicle upper structure

Prediction of dynamic stresses using flexible multibody system algorithms: Application to tracked vehicle upper structure

Integration of ANCF continuum-based soil plasticity for off-road vehicle mobility in multibody system dynamics

Modular Multibody Formulation for Simulating Off-Road Tracked Vehicles

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