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Simulation of Tracked Vehicles

The document summarizes research on simulating track/sprocket and track/wheel/terrain contact in tracked vehicles. It presents models for continuous track, track/sprocket contact, and track/wheel/terrain interaction. For track/sprocket contact, a hybrid discrete-continuous model couples a multibody model of shoes to a continuous model of track segments. For track/terrain interaction, a force element model uses contact models and kinematic relationships to predict loading. Solution methods were presented and examples shown for varying conditions. The research enables efficient simulation of vehicle response including effects of track vibration, contact, and interaction.

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Bob Jones
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152 views30 pages

Simulation of Tracked Vehicles

The document summarizes research on simulating track/sprocket and track/wheel/terrain contact in tracked vehicles. It presents models for continuous track, track/sprocket contact, and track/wheel/terrain interaction. For track/sprocket contact, a hybrid discrete-continuous model couples a multibody model of shoes to a continuous model of track segments. For track/terrain interaction, a force element model uses contact models and kinematic relationships to predict loading. Solution methods were presented and examples shown for varying conditions. The research enables efficient simulation of vehicle response including effects of track vibration, contact, and interaction.

Uploaded by

Bob Jones
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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arc

Automotive Research Center

Simulating Track/Sprocket
and Track/Wheel/Terrain Contact
in Tracked Vehicles
Z.-D. Ma
C. Scholar
N. C. Perkins
University of Michigan

arc

Automotive Research Center

Objective
Efficient simulation of vehicle response including track
vibration, track/sprocket contact, and track/wheel/terrain
interaction.
n

Overview of recent efforts

New effort: Track/Sprocket


Contact

New effort: Track/Wheel/Terrain


Interaction

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Automotive Research Center

Track Models
QUASI-STATIC

MULTI-BODY CHAIN

HYBRID DISCRETE-CONTINUOUS ELEMENT

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Automotive Research Center

Continuous Track Model

IN-PLANE RESPONSE

TRANSVERSE
LONGITUDINAL

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Automotive Research Center

Continuous Track Model


u2(s,t)
s, u1(s,t)

d
V

V - track speed
d - static sag
k - static curvature
T - static tension
f(t) - dynamic strain

Longitudinal Response u1 (s,t) = f (t)s + k u2 (,t)d


0
(quasi-static)
Transverse m(u2,tt
Response

+ 2Vu2,st + V 2 u2,ss ) + kEAf (t) = Tu2,ss


k L
f (t) =
u2 (,t)d

0
L

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Automotive Research Center

Experimental Validation

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Automotive Research Center

M1 Tank Traversing Profile 4

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Automotive Research Center

Track Transverse Vibration

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Automotive Research Center

Including Track/Sprocket Contact


Objective: To model of
dynamic shoe-tumbler
seating process
n

Inputs: shoe pitch


elongation, tumbler lug
wear, track tension,
interface friction, applied
torque, ground conditions.
Outputs: pin loading,
shoe/tumbler contact
forces, animation of

seating process

P&H 4100A Crawler

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Automotive Research Center

P&H 4100A Crawler


n

Operating weight:
1,200 tons

Max. speed: 0.56


mph.

Max. applied
torque: 1,580,000
ft-lbs

Max. design
tension: 1,480,000
lbs

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Automotive Research Center

Shoe/Tumbler Seating Process

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Automotive Research Center

Hybrid Track Model

Shoes
Tumbler
Rear Idler

Multibody Model of Shoes

Guide

Front Idler

Rollers

Continuous Model of Track Segments

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Automotive Research Center

Shoe/Tumbler Interface

a) Slight Wear

b) Heavy Wear

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Automotive Research Center

Prescribed Tumbler Velocity

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Automotive Research Center

Machine Travel Speed

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Automotive Research Center

Shoe/Tumbler Normal Contact Force


For Shoe 3-7
7

6
5
4

shoe 5

shoe 4

shoe 3

shoe 6
shoe 7

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Automotive Research Center

Vertical Load For Pins 01 to 03 Under


Rear Idler

pin 01

pin 02

pin 03

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Automotive Research Center

Case: Slight Wear, Very Tight

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Automotive Research Center

Case: Heavy Wear, Extremely Loose

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Automotive Research Center

Including Track/Wheel/Terrain Contact


Track/Wheel/Terrain Interaction

Objective: To develop
track/wheel/terrain interface
model to efficiently predict
the loading on the vehicle
due to the ground pressure
and shear.

arc

Automotive Research Center

Track/Wheel/Terrain Interaction Model


(Force Element)
Z

Wheel 2

Inputs

Wheel 1

(X1, Z1, 1)
(X2, Z2, 2)
zt(x)

O 1 ( X1 , Z1 )

FX1

zt (x)

O2 ( X2 , Z2 )

FX2

s 1

P(x,z)

A o

(FX1, FZ1, 1)
(FX2, FZ2, 2)

Terrain
x
l

g
X

Outputs

FZ2

FZ1

arc

Automotive Research Center

Track/Wheel/Terrain Interaction
o

T cos + (T + dT ) cos( + d ) f x ds = 0

fxds

T sin + (T + dT ) sin( + d ) f z ds = 0

+d
fzds

Kinematic Relationships

T+dT

dx
dx d dx
, cos( + d ) =
+ ds
d
d ds d
dz
dz d dz
ds
sin =
, sin( + d ) =
+
d
d ds d

cos =

x
dx
P

dz
ds
d

Equilibrium

+d

Constitutive Law
T = EA(d ds ) / ds

arc

Automotive Research Center

Contact Models
Track/Terrain

Track/Wheel

f x = + mg sin and f z = p mg cos

| x xt |
( x, z ) = m 1 exp

K (Janosi & Hanamoto)

m = C + p(z ) tan

-f z

O 1(x 1 , z1 )
r1

z-z1
f

-fx

p ( z ) = c + k ( z zt ) n
W

P(x, z)

(Bekker)
(x t,zt )

x-x 1

P(x,z)
A

k (r r1 )
f = w
0

for r < r1
for r r

fx

fz

Terrain

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Automotive Research Center

Solution Procedure

Re-write BVP in incremental form

Discretize by FE

(Modified) Newton-Raphson Iteration of


nonlinear BVP

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Automotive Research Center

Example: Case of Zero Sinkage

Trapezoid Bump
Round Bump

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Automotive Research Center

Example: Case of One Inch Sinkage

Trapezoid Bump
Round Bump

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Automotive Research Center

Example: Effect of Ground Stiffness

K=3.6e4

K=1.8e4
K=0.9e4

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Automotive Research Center

Effect of Track Extensibility

EA (lbs)
2.5e6
2.5e7
2.5e8
2.5e9
5.0e9
1.0e10

Tension (lbs)
0.188e6
0.837e6
0.154e7
0.189e7
0.192e7
0.194e7

Fx (lbs)
0.153e6
0.759e6
0.148e7
0.184e7
0.187e7
0.189e7

Fz (lbs)
0.110e6
0.354e6
0.428e6
0.445e6
0.447e6
0.447e6

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Automotive Research Center

Continuous to Multibody Formulation

Nel
100
20
6

Tension (lbs)
0.188e6
0.188e6
0.208e6

FX (lbs)
0.153e6
0.152e6
0.138e6

FZ (lbs)
0.110e6
0.130e6
0.442e6

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Automotive Research Center

Conclusions
Continuous track model
n

Captures low frequency track vibration in an


efficient manner

Can be married to multibody track models


(track/sprocket contact)

Can be extended to capture track/wheel/terrain


interaction

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