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

Abstract

A mathematical model of track-wheel-terrain interaction is presented that supports the dynamic simulation of tracked vehicles. This model combines approximate and known constitutive laws for terrain response with a new representation for the track segment. The resulting track-wheel-terrain model allows the computation of the track tension and the normal and shear forces at the track-terrain interface as the track negotiates terrain of arbitrary pro®le. A key feature of this model is the uniform treatment of contact between the track and the roadwheels and the track and the terrain. Treating both contact problems in the same manner signi®cantly simpli®es the problem formulation and also reduces dif®culties in computing points of track-wheel and track-terrain separation. The model takes the form of a two-point nonlinear boundary value problem that accounts for tension variations along the track (due to the non-uniformly distributed normal pressure and traction), track extensibility, and geometrically large (nonlinear) track de¯ections. Solutions are obtained using a ®nite element formulation. Both the model and the solution method are formulated for implementation within a multibody dynamics code for simulating full vehicles. Several examples illustrate the capabilities of the proposed model.

Wheel drive with integrated differential

“…They depend on the ratio of the rolling resistance of the wheel to the driving torque. The driving torque, in turn, depends on the characteristics of the WMEV engine (3), the current values of the lever torque (6) and the turning torque (9). The moment of resistance to rolling the wheel at the initial moment can be expressed as equation (11):…”

“…The compaction extends to the subsurface layer up to 40 cm, and on moist soils the degree of compaction is greater [4]. The need for further research on reducing soil compaction by WMEV engines is discussed in [5], by chain-track tractor is discussed in [6], by track-wheel-terrain interaction is discussed in [7].…”

Kinematics and dynamics of an incomplete circular wheel drive of an agricultural tractor

“…For the same tire configuration, radial tire caused less soil compaction than the cross-ply [7]. The interaction of the caterpillar link with the ground was studied in [8]. The compaction of wheeled tractors extends to the subsurface layer up to 40 cm, and on moist soils the degree of compaction is greater [9].…”