Journal articles: 'Tracked vehicles'

1

Eto, Ryosuke, Tomoaki Satomi, and Hiroshi Takahashi. "Kinematics of Wheel-Type Tracked Vehicle with Crawlers in Between the Front and Rear Wheels." Journal of Robotics and Mechatronics 24, no. 6 (December 20, 2012): 933–38. http://dx.doi.org/10.20965/jrm.2012.p0933.

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Tracked vehicles are generally trucked to the field because they cannot move on the pavement. This operation is very slow and inefficient. To solve the problem, it is necessary to develop tracked vehicles that can move swiftly on both soft ground and pavement. Wheel-type tracked vehicles with crawlers in between the front and rear wheels can move swiftly using only the wheels on pavement and both wheels and crawlers on soft ground. However, such vehicles cannot turn on both wheels and crawlers. In this study, this steering constraint condition of the vehicle was analyzed with inverse kinematics. Using the obtained optimal conditions, numerical simulations and experiments were carried out. The vehicle’s turning performance was also shown to improve.

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Shiller, Zvi, and William Serate. "Trajectory Planning of Tracked Vehicles." Journal of Dynamic Systems, Measurement, and Control 117, no. 4 (December 1, 1995): 619–24. http://dx.doi.org/10.1115/1.2801122.

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This paper presents a method for computing the track forces and track speeds of planar tracked vehicles, required to follow a given path at specified speeds on horizontal and inclined planes. It is shown that the motions of a planar tracked vehicle are constrained by a velocity dependent nonholonomic constraint, derived from the force equation perpendicular to the tracks. This reduces the trajectory planning problem to determining the slip angle between the vehicle and the path tangent that satisfies the nonholonomic constraint along the entire path. Once the slip angle has been determined, the track forces are computed from the remaining equations of motion. Computing the slip angle is shown to be an initial boundary-value problem, formulated as a parameter optimization. This computational scheme is demonstrated numerically for a planar vehicle moving along circular paths on horizontal and inclined planes.

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Dong, Chao, Kai Cheng, Kangle Hu, and WenQiang Hu. "Dynamic modeling study on the slope steering performance of articulated tracked vehicles." Advances in Mechanical Engineering 9, no. 7 (July 2017): 168781401771241. http://dx.doi.org/10.1177/1687814017712418.

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Articulated tracked vehicles are used as special off-road transportation vehicles, and their mobility is gaining more attention now than before. As an important evaluation indicator of the mobility of articulated tracked vehicles, steering performance receives wide attention in particular. Most of the present studies focus on the planar steering performance; few studies employing current models concentrate on the slope steering performance of articulated tracked vehicles. To address this research gap, this study proposes a dynamic modeling method for analyzing the slope steering performance of articulated tracked vehicles. A kinematic model of a vehicle is initially constructed to analyze its kinematic characteristics during slope steering; these characteristics include velocity and acceleration. A dynamic model of a vehicle is then developed to analyze its mechanical characteristics during slope steering; these characteristics include vertical loads, driving forces, and driving moments of tracks. The created dynamic model is then applied to analyze the slope steering performance of a specific articulated tracked vehicle. A mechanical-control united simulation model and an actual test of an articulated tracked vehicle are suggested to verify the established steering model. Comparison results show the effectiveness of the proposed dynamic steering model.

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Reitbauer, Eva, and Christoph Schmied. "Bridging GNSS Outages with IMU and Odometry: A Case Study for Agricultural Vehicles." Sensors 21, no. 13 (June 29, 2021): 4467. http://dx.doi.org/10.3390/s21134467.

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Nowadays, many precision farming applications rely on the use of GNSS-RTK. However, when it comes to autonomous agricultural vehicles, GNSS cannot be used as a stand-alone system for positioning. To ensure high availability and robustness of the positioning solution, GNSS-RTK must be fused with additional sensors. This paper presents a novel sensor fusion algorithm tailored to tracked agricultural vehicles. GNSS-RTK, an IMU and wheel speed sensors are fused in an error-state Kalman filter to estimate position and attitude of the vehicle. An odometry model for tracked vehicles is introduced which is used to propagate the filter state. By using both IMU and wheel speed sensors, specific motion characteristics of tracked vehicles such as slippage can be included in the dynamic model. The presented sensor fusion algorithm is tested at a composting site using a tracked compost turner. The sensor measurements are recorded using the Robot Operating System (ROS). To analyze the achievable accuracies for position and attitude of the vehicle, a precise reference trajectory is measured using two robotic total stations. The resulting trajectory of the error-state filter is then compared to the reference trajectory. To analyze how well the proposed error-state filter is suited to bridge GNSS outages, GNSS outages of 30 s are simulated in post-processing. During these outages, the vehicle’s state is propagated using the wheel speed sensors, IMU, and the dynamic model for tracked vehicles. The results show that after 30 s of GNSS outage, the estimated horizontal position of the vehicle still has a sub-decimetre accuracy.

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5

WONG, J. Y. "Dynamics of Tracked Vehicles." Vehicle System Dynamics 28, no. 2-3 (August 1997): 197–219. http://dx.doi.org/10.1080/00423119708969354.

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Gao, Y., and J. Y. Wong. "The Development and Validation of a Computer Aided Method for Design Evaluation of Tracked Vehicles with Rigid Links." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 208, no. 3 (July 1994): 207–15. http://dx.doi.org/10.1243/pime_proc_1994_208_183_02.

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In the past decade, a computer aided method for design evaluation of high-speed tracked vehicles with flexible tracks (or tracks with relatively short track pitch commonly in use in tracked transport vehicles and military vehicles) has been developed. It has been successfully used in assisting vehicle manufacturers in the development of new products and governmental agencies in the selection of vehicle candidates. For low-speed tracked vehicles commonly in use in agriculture, construction and logging, rigid tracks with relatively long track pitch are employed to achieve a more uniform ground pressure distribution. To assist manufacturers of this type of vehicle to expedite the development of new products in a cost effective manner, a computer aided method for design evaluation of tracked vehicles with rigid links has recently been developed. It treats the track as a system of interconnected rigid links and takes into account the characteristics of the interaction between track links and deformable terrain. The basic features of the method have been verified by field test data. The method can be an extremely useful tool for the engineer to optimize vehicle design and for the procurement manager to select appropriate vehicle candidates to meet specific operating requirements.

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Li, Guo Qiang, and Xing Ye Wang. "Research on Electronic Pneumatic Steering and Braking Control Technology for Autonomous Tracked Vehicles." Applied Mechanics and Materials 577 (July 2014): 359–63. http://dx.doi.org/10.4028/www.scientific.net/amm.577.359.

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To realize the autonomous driving of a certain tracked vehicle, the paper has a research on its steering and braking control technology. According to the steering and braking device’s structure and work principle on the original vehicle, the paper design an electronic pneumatic steering and braking control system before analyzing the design request of the system and introduce the system’s work principle. Applying this system to the original vehicle’s autonomous transformation, a test was conducted on the vehicle, the test prove that the electronic pneumatic steering and braking control system can well satisfied the tracked vehicles’ request of steering and braking.

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Zhang, Yu, Mianhao Qiu, Xixia Liu, Jun Li, Haijun Song, Yue Zhai, and Hongjuan Hu. "Research on Characteristics of Tracked Vehicle Steering on Slope." Mathematical Problems in Engineering 2021 (January 31, 2021): 1–18. http://dx.doi.org/10.1155/2021/3592902.

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A special design is needed for an unmanned tracked vehicle (UTV) to meet the requirements of off-road environments and complex tasks. A loose surface is the main terrain for tracked vehicles in off-road driving. Slope steering is inevitable while driving in such conditions; hence, its performance is a major concern for tracked vehicles on loose terrain. This study investigates the slope steering performance of a tracked vehicle. An improved dynamic steering model is proposed when considering the shear stress-shear displacement relation of soil at the track-ground interface. The influence of ground characteristics on the slope steering performance of a tracked vehicle is illustrated. The track slip rate is adopted as an index to evaluate the influence of typical vehicle structure parameters on the slope steering performance of a tracked vehicle. This study provides technical support for the design and optimization of UTV.

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Chen, Ning, Yun Peng Han, Pei Pei Liu, and Shuai Yang. "The Motion Attitude Analysis of High-Speed Tracked Vehicle Climbing over Vertical Wall." Advanced Materials Research 852 (January 2014): 515–19. http://dx.doi.org/10.4028/www.scientific.net/amr.852.515.

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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.

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Ding, Zhao, Yaoming Li, and Zhong Tang. "Theoretical Model for Prediction of Turning Resistance of Tracked Vehicle on Soft Terrain." Mathematical Problems in Engineering 2020 (March 20, 2020): 1–9. http://dx.doi.org/10.1155/2020/4247904.

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Skid-steered tracked vehicles are commonly used in soft agricultural terrain due to its low ground pressure between vehicle tracks and the ground. However, the sliding and sinkage of the track during a turning maneuver causes considerable turning resistance, which reduces the vehicle's turning ability. Therefore, we constructed a theoretical model that predicts the turning resistance of tracked vehicles—under steady-state conditions on soft terrain—accounting for track sinkage effects and track slip and skid. The results demonstrate that the moment of turning resistance decreases with increased track slip and skid ratio but increases with track sinkage depth. The model-predicted moments of turning resistance for the outer and inner tracks—at a given track sinkage depth and track slip and skid ratio—are in reasonably close agreement with available experimental data. This theoretical model can be employed as a predictor for testing the turning resistance of tracked vehicles operating on a wide range of soils.

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Dobretsov, Roman, Gennadii Porshnev, and Darya Uvakina. "Performance improvement of Arctic tracked vehicles." MATEC Web of Conferences 245 (2018): 17001. http://dx.doi.org/10.1051/matecconf/201824517001.

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The technical tenders aimed at improving of track-type vehicles performances are considered and substantiated, and that vehicles are the irreplaceable basis of the Arctic transport network. The questions of the improving of reliability and Energy Performance of crawler due to the application of caterpillars with modernized tracks that have a lower mass and provide less resistance to movement of the vehicle are considered. The variants of transmission modernization with the purpose of improving the quality of turn control due to the use of a split-transmission diagram with a steering based on an electric motor and other solutions are proposed. An economically expedient approach to the introduction of a hybrid power plant of a parallel-serial type based on the developed kinematic scheme of a electromechanical split-transmission is proposed. It is shown the main technical proposals can be realize based on domestic units.

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Kopotilov, V. I. "Brake force of tracked vehicles." Traktory i sel'hozmashiny, no. 2 (2019): 51–55. http://dx.doi.org/10.31992/0321-4443-2019-2-51-55.

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Naumov, V. N., K. Y. Mashkov, and K. E. Byakov. "Autonomous tracked vehicles effectiveness estimation." IOP Conference Series: Materials Science and Engineering 534 (June 5, 2019): 012006. http://dx.doi.org/10.1088/1757-899x/534/1/012006.

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Guarnieri, Michele, Paulo Debenest, Takao Inoh, and Shigeo Hirose. "HELIOS VII: a New Tracked Arm-Equipped Vehicle." Journal of Robotics and Mechatronics 15, no. 5 (October 20, 2003): 508–15. http://dx.doi.org/10.20965/jrm.2003.p0508.

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Crawled vehicles have a considerable importance for rescue operations and tasks performed in damaged areas. On tracked vehicles a great deal of research has been made. However, due to the variety of the sceneries in which robots are required to work, it is important to design vehicles with high terrain adaptability and capable to fulfill different tasks. After an overview of the merits on the state of the art of research on crawled vehicles, the important features of a tracked vehicle are introduced and explained. The new robot Helios VII is presented. The motions that it can realize are verified through simulations and some mechanical solutions applied in the mechanical design are also explained.

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15

Wong, J. Y. "Optimization of the Tractive Performance of Articulated Tracked Vehicles Using an Advanced Computer Simulation Model." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 206, no. 1 (January 1992): 29–45. http://dx.doi.org/10.1243/pime_proc_1992_206_158_02.

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This paper describes the results of a study of the effects of articulation joint configuration, suspension characteristics, location of the centre of gravity and initial track tension on the mobility of a two-unit, articulated tracked vehicle. The study was carried out using a comprehensive computer simulation model known as NTVPM-86. The results show that suspension characteristics, location of the centre of gravity and initial track tension have noticeable effects on the mobility of articulated tracked vehicles over marginal terrain, while the articulation joint angle has a less significant influence on vehicle performance. Locking the articulation joint between the two units of an articulated tracked vehicle usually causes a degradation of tractive performance. The approach to the optimization of the design of articulated tracked vehicles is demonstrated. It is shown that the simulation model NTVPM-86 can play a significant role in the optimization of articulated tracked vehicle design or in the evaluation of vehicle candidates for a given mission and environment.

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Zhou, Chong Kai, Ya Yu Huang, and Li Ni. "The Dynamics Simulation of Tracked Vehicles on the Hard and Soft Ground Based on the RecurDyn." Advanced Materials Research 842 (November 2013): 351–54. http://dx.doi.org/10.4028/www.scientific.net/amr.842.351.

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In order to accurately study a tracked vehicle movement on the ground in hard and soft features, this paper uses multi-body dynamics simulation software RecurDyn tracked vehicle subsystems Track (LM), establishing a three-dimensional multi-body vehicle dynamics model. For tracked vehicles at an inclination of 10 degrees slope, through the soft and hard ground steering process dynamics simulation and comparative analysis. This paper provides an accurate basis for the future in-depth research on Tracked vehicle.

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Li, Jianfeng, Amir Khajepour, Yanjun Huang, Hong Wang, Chen Tang, and Yechen Qin. "A new coordinated control strategy for tracked vehicle ride comfort." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 232, no. 3 (October 12, 2017): 330–41. http://dx.doi.org/10.1177/1464419317734950.

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To improve tracked vehicle ride comfort and minimize weapon's vibration, a coordinated control strategy is developed for tracked vehicles' semi-active suspension systems. A model with eight degrees-of-freedom for a tracked vehicle equipped with magnetorheological dampers is established, and is followed by the formulation of a sliding mode controller. The proposed control algorithm is a localized-based controller that can change its target location in the tracked vehicle to where it is needed most. A co-simulation system model including a six-wheel tracked vehicle multi-body dynamics model, coordinated control strategy, and magnetorheological damper force allocator is developed to analyze the ride performance under bump and random road excitations. The simulation results demonstrate that the proposed strategy is very effective in improving the vehicle's ride performance and is much better than the traditional skyhook controllers. The innovation of this paper can be concluded as the coordinated control strategy can simultaneously improve vertical acceleration and pitch acceleration for the hull, which is of great importance for combat situations.

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Wong, Jo Y., Paramsothy Jayakumar, and Jon Preston-Thomas. "Evaluation of the computer simulation model NTVPM for assessing military tracked vehicle cross-country mobility." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233, no. 5 (April 23, 2018): 1194–213. http://dx.doi.org/10.1177/0954407018765504.

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In the United States and some other NATO (North Atlantic Treaty Organization) countries, the NATO Reference Mobility Model is currently used to evaluate military ground vehicle mobility. The module of the NATO Reference Mobility Model for predicting the cross-country performance of military vehicles is empirically based and was developed using test data collected decades ago. The NATO Reference Mobility Model has inherent limitations, such as the uncertainty whether its empirical relations can be extrapolated beyond the test conditions upon which they were derived or whether it can be used for evaluating new-generation military vehicles. This suggests that there is a need for the development of a physics-based model that takes into account the advancements in terramechanics and modelling/simulation techniques. This paper describes the results of a detailed evaluation of a physics-based model – the Nepean Tracked Vehicle Performance Model – for assessing military tracked vehicle cross-country performance. The performance of a notional tracked vehicle (an armoured personnel carrier) predicted by the latest version of the Nepean Tracked Vehicle Performance Model is compared with test data obtained on sandy terrain, muskeg and snow-covered terrain. The correlations between the predicted and measured performance are evaluated using the coefficient of correlation, coefficient of determination, root mean square deviation and coefficient of variation. The applications of the Nepean Tracked Vehicle Performance Model to predicting the maximum possible vehicle speed (speed-made-good) on a given terrain, the sensitivity of vehicle performance to variations in the values of terrain parameters and the mean maximum pressure are demonstrated. The results of this study indicate that the Nepean Tracked Vehicle Performance Model has potential to form the basis for the development of the next-generation cross-country performance assessment methodology for military tracked vehicles.

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Chen, Jian Hua, Xi Hui Mu, Feng Po Du, and Kai Lv. "Study on Dynamics of Small Tracked Steering on Ramp." Advanced Materials Research 798-799 (September 2013): 586–89. http://dx.doi.org/10.4028/www.scientific.net/amr.798-799.586.

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This vehicle is mainly used for transportation of materials at a short distance in a variety of harsh terrain, such as mountains, ravines, jungles, deserts, beaches, snow-covered environment. Steering on ramp is a common working condition for this vehicle. For the restriction of the tracked vehicles size and internal space of chassis, the selected power of engine is always small. Therefore it is necessary to study on the tracked vehicle steering performance on ramp and to calculate traction and braking force of the inner and outer crawler required, which has practical significance for the further study on the vehicles dynamics research and power matching.

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Ni, Tao, Wenhang Li, Hongyan Zhang, Haojie Yang, and Zhifei Kong. "Pose Prediction of Autonomous Full Tracked Vehicle Based on 3D Sensor." Sensors 19, no. 23 (November 22, 2019): 5120. http://dx.doi.org/10.3390/s19235120.

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Autonomous vehicles can obtain real-time road information using 3D sensors. With road information, vehicles avoid obstacles through real-time path planning to improve their safety and stability. However, most of the research on driverless vehicles have been carried out on urban even driveways, with little consideration of uneven terrain. For an autonomous full tracked vehicle (FTV), the uneven terrain has a great impact on the stability and safety. In this paper, we proposed a method to predict the pose of the FTV based on accurate road elevation information obtained by 3D sensors. If we could predict the pose of the FTV traveling on uneven terrain, we would not only control the active suspension system but also change the driving trajectory to improve the safety and stability. In the first, 3D laser scanners were used to get real-time cloud data points of the terrain for extracting the elevation information of the terrain. Inertial measurement units (IMUs) and GPS are essential to get accurate attitude angle and position information. Then, the dynamics model of the FTV was established to calculate the vehicle’s pose. Finally, the Kalman filter was used to improve the accuracy of the predicted pose. Compared to the traditional method of driverless vehicles, the proposed approach was more suitable for autonomous FTV. The real-world experimental result demonstrated the accuracy and effectiveness of our approach.

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Leonov, Vasilii, and Mark Khazin. "Cross-country ability of tracked vehicles." Izvestiya vysshikh uchebnykh zavedenii. Gornyi zhurnal, no. 1 (February 17, 2021): 107–14. http://dx.doi.org/10.21440/0536-1028-2021-1-107-114.

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Research aims to determine conditions and parameters under which the tracked vehicle overcomes stone fields and separate blocks (boulders). Research methodology included the methods of analytical mechanics and mathematical analysis. Results. Mining and geological conditions of deposits gradually get more complicated, while mining moves to remote northern regions, which is a characteristic feature of the Holocene epoch. Road, weather, and natural conditions in arctic and northern territories differ markedly from other regions. Ridges, mounds, lake plains, and marshland are the predominant landscape. Stone fields, marshes, permafrost, marshy hollows, and deep ravines impede the traffic. Due to these factors it is particularly difficult to access and explore in arctic and northern territories. There are particular technical specifications for the exploration equipment, namely, increased cross-country ability for weak soil (snow and swamp), ability to overcome stone fields, increased haulage and towing capacity with the account of maximum possible environmental regulatory compliance, etc. The conditions of ascent and overturning are derived from geometry, while the sliding condition is derived from statics. Summary. A mathematical model has been created, which makes it possible to describe the tracked vehicle’s travel across the uneven ground and, under known design values of the vehicle, determine the limitary obstacle clearance.

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HaoLiang, Guo, Mu XiHui, Yang XiaoYong, and Lv Kai. "Research on the influence of virtual modeling and testing–based rubber track system on vibration performance of engineering vehicles." Engineering review 38, no. 3 (2018): 288–95. http://dx.doi.org/10.30765/er.38.3.5.

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The rubber track system can be quickly swapped on the tyres, exerting a smaller ground pressure while generating a greater adhesion to solve the problem vehicles faced in traversing rough and difficult terrain. This paper will discuss the influence of rubber track system on the ride comfort of engineering vehicles with rigid suspension. First, a multi-body dynamic model of the rubber track system and a mathematical model of contact between the ground and the track are established, and then the macro commands are programmed to add many complex contact forces. Moreover, by using the method of physical prototype obstacle testing, the correctness of the simulation model is validated. The ride comfort of the engineering vehicle when equipped with rubber track system is explored by the method of the multi-body dynamics and real vehicle test. The research shows that a flexible roller wheel system can significantly improve the ride comfort of the engineering vehicle when compared to wheeled vehicles. When the vehicle speed is low, the weighted root-mean-square acceleration of the wheeled vehicle and tracked vehicle is almost the same. At the same time, it is verified that the ride comfort of the steel-chain tracked vehicles is worse than that of rubber tracked vehicles, due to the polygon effect. Through the multi-body dynamics simulation of the virtual prototype, we can predict and evaluate the ride comfort of vehicles, saving the cost of testing and obtaining the actual experimental data, which has great significance for the research and development of vehicles.

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Wong, J. Y., and J. Preston-Thomas. "Investigation into the Effects of Suspension Characteristics and Design Parameters on the Performance of Tracked Vehicles using an Advanced Computer Simulation Model." Proceedings of the Institution of Mechanical Engineers, Part D: Transport Engineering 202, no. 3 (July 1988): 143–61. http://dx.doi.org/10.1243/pime_proc_1988_202_169_02.

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This paper describes the results of an investigation into the effects of the characteristics of the suspension system, initial track tension, vehicle weight and location of the centre of gravity on the tractive performance of tracked vehicles over unprepared terrain. The investigation was carried out using a newly developed computer simulation model NTVPM-86. The results show that the suspension characteristics, initial track tension and vehicle weight have noticeable effects on the mobility of tracked vehicles over marginal terrain, while the location of the centre of gravity, within the normal range, has a less significant influence on the tractive performance. It is demonstrated that the simulation model NTVPM-86 can play a significant role in the optimization of tracked vehicle design or in the evaluation of vehicle candidates for a given mission and environment.

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Zhu, Chenhui, Hongmei Zhang, Wanzhang Wang, Kang Li, and Wanru Liu. "Robust control of hydraulic tracked vehicle drive system based on quantitative feedback theory." International Journal of Distributed Sensor Networks 16, no. 2 (February 2020): 155014772090783. http://dx.doi.org/10.1177/1550147720907832.

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To improve the control precision of the drive system of hydraulic tracked vehicles, we established a mathematical model of the drive system based on the analysis of structural characteristics of the high-clearance hydraulic tracked vehicles and the dual-pump dual-motor drive system and developed a control strategy based on the quantitative feedback theory. First, the mutual independence of the two motor channels was achieved through channel decoupling. Then, the loop-shaping controller and the pre-filter were designed for the two channels. The result of a simulation experiment indicates that the proposed control method is very effective in suppressing external uncertainties and smoothening the speed-switching process of the hydraulic motor. Finally, an hydraulic tracked vehicle steering experimental test was carried out. The results show that under two different steering modes, the maximum standard deviation of the output speeds of the inner and outer motors of the hydraulic tracked vehicle is only 0.42, which meets the performance requirement on the hydraulic motor speed. The average steering track radii of the geometric centers of the inner and outer tracks are 1.828 and 0.033 m, respectively, and the relative errors are 1.56% and 3.19%, respectively. This demonstrates that the proposed control method achieves satisfactory results in the robust control of the hydraulic tracked vehicle drive system. It provides some references for the future control research of the hydraulic servo drive system of the high-clearance hydraulic tracked vehicles.

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HASEGAWA, Tatsuya, Motofumi SASAKI, and Kouji KINOSHITA. "412 Study on Curving Tracked Vehicles." Proceedings of Conference of Hokuriku-Shinetsu Branch 2010.47 (2010): 145–46. http://dx.doi.org/10.1299/jsmehs.2010.47.145.

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Liu, Z. S., C. Lu, Y. Y. Wang, H. P. Lee, Y. K. Koh, and K. S. Lee. "Prediction of noise inside tracked vehicles." Applied Acoustics 67, no. 1 (January 2006): 74–91. http://dx.doi.org/10.1016/j.apacoust.2005.05.003.

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Mourikis, Anastasios I., Nikolas Trawny, Stergios I. Roumeliotis, Daniel M. Helmick, and Larry Matthies. "Autonomous Stair Climbing for Tracked Vehicles." International Journal of Robotics Research 26, no. 7 (July 2007): 737–58. http://dx.doi.org/10.1177/0278364907080423.

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YAMAKAWA, Junya, Keiji WATANABE, Tomohisa INAGAKI, Masanori KITANO, and Hiromi JOZAKI. "Turning Characteristics of Articulated Tracked-Vehicles." Transactions of the Japan Society of Mechanical Engineers Series C 66, no. 642 (2000): 579–85. http://dx.doi.org/10.1299/kikaic.66.579.

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Hetherington, J. G. "Electric, all-wheel-drive, tracked vehicles." Journal of Terramechanics 28, no. 1 (January 1991): 79–85. http://dx.doi.org/10.1016/0022-4898(91)90008-t.

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Tarulescu, Radu, Ciprian Olteanu, and Sorin Zamfira. "Variation of Start Acceleration for Wheeled and Tracked Autonomous Mini-Vehicles." Applied Mechanics and Materials 822 (January 2016): 299–304. http://dx.doi.org/10.4028/www.scientific.net/amm.822.299.

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In this paper is presented a comparison between the obtained start-acceleration of a vehicle with wheels and one tracked. Experiments performed in this regard were conducted on three types of surfaces like parquet, carpet and sand. The vehicles chosen for testing were a remote-controlled mini-vehicle (wheeled locomotion system) and Spy Video TRAKR (locomotion system tracked). In order to determine the acceleration, the vehicles were equipped with ultrasonic sensor DT020-1 and data acquisition system MultiLogPRO, running connected to a PC or as a standalone device.

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Sivakumar, P., Rajaseeli Reginald, G. Venkatesan, Hari Viswanath, and T. Selvathai. "Configuration Study of Hybrid Electric Power Pack for Tracked Combat Vehicles." Defence Science Journal 67, no. 4 (June 30, 2017): 354. http://dx.doi.org/10.14429/dsj.67.11454.

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<p>In recent years, there is growing interest in hybridisation of military vehicles due to the features and advantages offered by the technology. Generally, the hybrid electric vehicle (HEV) is propelled by a combination of electric motors and internal combustion engine (ICE). Hybrid electric combat vehicles, when compared with conventional vehicles, have the advantages of improved fuel efficiency and drivability due to optimal operation of ICE, regenerative braking and silent operation capability. Limitations related to key technologies such as compact electric motors/generators, power electronics and energy storage systems that are required to operate under extreme environmental conditions pose challenges to the development of hybrid electric power pack. Technical challenges of HEV technologies considering futuristic applications of combat vehicles is described. The configuration specification of hybrid electric power train architecture suited to deliver high automotive performance and power demands for infantry combat vehicles (ICV) is also discussed.</p>

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YAMAKAWA, Junya, Keiji WATANABE, and Yosuke YASUDA. "Turning Characteristics of Articulated Tracked Vehicles. Vehicle Characteristics and Steering Performance." Transactions of the Japan Society of Mechanical Engineers Series C 67, no. 657 (2001): 1544–51. http://dx.doi.org/10.1299/kikaic.67.1544.

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Xu, Rui Liang, and Tao Yang. "Vehicle Traction Performance in Research of Soft Road." Applied Mechanics and Materials 644-650 (September 2014): 11–15. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.11.

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This paper describes the main properties of the soil, in the analysis of the soil under the horizontal load stress distribution and stress - deformation relationship on the basis of research issues related to wheeled vehicles and tracked vehicles traction. The formula gives the vehicle traction, analyzes the factors that affect vehicle traction and proposes an effective method to improve vehicle traction.

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Taratorkin, Igor, Victor Derzhanskii, and Alexander Volkov. "Stabilization of transport tracked vehicle trajectory." MATEC Web of Conferences 224 (2018): 02038. http://dx.doi.org/10.1051/matecconf/201822402038.

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The article presents the research findings of the controlled motion dynamics of tracked vehicles equipped with a steering system with discrete properties. It is established that the potential high-speed performance is limited by motion instability and by dynamic properties i.e. the phase lag of the vehicle response to the harmonic control input and the “engine overshoot” to a unit step function (steering jerk). Technical proposals allowing for the high-speed performance of the vehicle are substantiated, such as yaw moment control, which ensures the positive-difference of the partial differential coefficients of yaw moment and cornering resistance moment with respect to curvature; increase of the dynamic system stiffness for increasing the natural frequency and decreasing energy when exciting oscillatory processes; implementation of Shaper steering brake control algorithms.

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35

Liu, Xi Yang, Zhi Yong Jiao, and Mei Yu Zhang. "The Research on Grounding Pressure Distribution of Tracked Travelling Mechanism." Applied Mechanics and Materials 526 (February 2014): 115–20. http://dx.doi.org/10.4028/www.scientific.net/amm.526.115.

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The grounding pressure of tracked vehicles is closely related to the overall structure of the vehicles and the ground conditions, and its distribution is more complex and changes in the different center of gravity. So in this paper, under certain assumptions, we derive the mathematical model of the grounding pressure distribution through analysis and research, which can predict the ground pressure distribution of tracked vehicles at any moment. By analyzing the tracked grounding pressure distribution, we put forward the concept of core region of track connecting with the ground, and some meaningful conclusions and formulas for the overall design of tracked vehicles.

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Huh, Kunsoo, Chung Choo Chung, I. M. Kim, and Mun-suk Suh. "Track Tension Controller Design and Experimental Evaluation in Tracked Vehicles." Journal of Dynamic Systems, Measurement, and Control 126, no. 4 (December 1, 2004): 764–71. http://dx.doi.org/10.1115/1.1852461.

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Track tension is closely related to the maneuverability of tracked vehicles and the durability of their tracks and suspension systems. The tension needs to be maintained at an optimum level throughout the maneuver in order to minimize the excessive load on the tracks and to prevent track peeloff from the sprocket. In this paper, a track tension control system is developed for tracked vehicles which are subject to various maneuvering tasks. It consists of track tension estimator, track tension controller, and hydraulic unit. The tension around the idler and sprocket is estimated in real time, respectively. Using the estimated track tension and considering the highly nonlinear vehicle characteristics, a fuzzy logic controller is designed in order to control the track tension in the vehicles. The performance of the proposed tension control system is verified through simulation and experimental field tests.

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37

Salem, A. "Modeling and Simulation of Tracked Vehicles Suspension." International Conference on Applied Mechanics and Mechanical Engineering 14, no. 14 (May 1, 2010): 1–12. http://dx.doi.org/10.21608/amme.2010.38216.

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Bourassa, P., G. Payre, B. Marcos, B. Ezzerrouqi, and S. Reiher. "KINEMATICS AND DYNAMICS OF SKI-TRACKED VEHICLES." Vehicle System Dynamics 23, sup1 (January 1994): 34–46. http://dx.doi.org/10.1080/00423119308969503.

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Li, Yuliang, and Chong Tang. "Research on Coupled Dynamic Model of Tracked Vehicles and Its Solving Method." Mathematical Problems in Engineering 2015 (2015): 1–10. http://dx.doi.org/10.1155/2015/293125.

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In order to conveniently analyze the dynamic performance of tracked vehicles, mathematic models are established based on the actual structure of vehicles and terrain mechanics when they are moving on the soft random terrain. A discrete method is adopted to solve the coupled equations to calculate the acceleration of the vehicle’s mass center and tractive force of driving sprocket. Computation results output by the model presented in this paper are compared with results given by the model, which has the same parameters, built in the multi-body dynamic software. It shows that the steady state calculation results are basically consistent, while the model presented in this paper is more convenient to be used in the optimization of structure parameters of tracked vehicles.

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Fang, Yuan, Yunan Zhang, Nianyu Li, and Yinghui Shang. "Research on a medium-tracked omni-vehicle." Mechanical Sciences 11, no. 1 (May 12, 2020): 137–52. http://dx.doi.org/10.5194/ms-11-137-2020.

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Abstract. Existing omnidirectional vehicles have disadvantages of poor load capacities and practicability. Based on the omnidirectional mobile track and an adapted symmetrical layout, a novel medium-tracked omni-vehicle was designed. The kinematic and dynamic model of the vehicle was established, and the anisotropy of the velocity and acceleration of the vehicle was analyzed. With a counterbalanced forklift as the design goal, a virtual prototype and real prototype of the vehicle were established. The prototype had a no-load weight of 5 t and a full-load weight of 7 t. Simulations and experiments were carried out for various omnidirectional movements of the prototype, such as longitudinal, lateral, multi-angle diagonal, and center-point steering motions. The simulation and experimental results showed that the vehicle performed omnidirectional motion in the plane under no-load and full-load conditions. The translational motion of the prototype exhibited anisotropic motion. The causes of the trajectory and velocity deviation during the motion of the prototype were analyzed.

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Zhou, Ming Xing, Yun Peng Ren, Long Ye, Yu Zhou, and Guo Qiang Wang. "Discussion of Track Tension for Heavy Tracked Vehicles." Advanced Materials Research 813 (September 2013): 30–33. http://dx.doi.org/10.4028/www.scientific.net/amr.813.30.

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This paper aims at getting a way to obtain the suitable track tension by analyzing a heavy tracked vehicles driving prototype which is consisted of the sprocket and the meshing tracks. First, by analyzing the force state in the driving part in the multi-body dynamics simulation tool: RecurDyn, a critical condition to judge the peel-off of tracks in heavy tracked vehicle is proposed. Second, by comparing the different models built in RecurDyn, an ideal track distribution around the sprocket is obtained and also the relationship between the driving torque and the track tension under that ideal situation is concluded. Third, basing on the data from the simulation, the force state of each track meshed with the sprocket is analyzed, and an assumption about the proportion between each tracks upper and bottom pulling force is proposed.

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Gomaa, Ahmed, Moataz M. Abdelwahab, Mohammed Abo-Zahhad, Tsubasa Minematsu, and Rin-ichiro Taniguchi. "Robust Vehicle Detection and Counting Algorithm Employing a Convolution Neural Network and Optical Flow." Sensors 19, no. 20 (October 22, 2019): 4588. http://dx.doi.org/10.3390/s19204588.

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Automatic vehicle detection and counting are considered vital in improving traffic control and management. This work presents an effective algorithm for vehicle detection and counting in complex traffic scenes by combining both convolution neural network (CNN) and the optical flow feature tracking-based methods. In this algorithm, both the detection and tracking procedures have been linked together to get robust feature points that are updated regularly every fixed number of frames. The proposed algorithm detects moving vehicles based on a background subtraction method using CNN. Then, the vehicle’s robust features are refined and clustered by motion feature points analysis using a combined technique between KLT tracker and K-means clustering. Finally, an efficient strategy is presented using the detected and tracked points information to assign each vehicle label with its corresponding one in the vehicle’s trajectories and truly counted it. The proposed method is evaluated on videos representing challenging environments, and the experimental results showed an average detection and counting precision of 96.3% and 96.8%, respectively, which outperforms other existing approaches.

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Wong, J. Y., and Y. Gao. "Applications of a Computer Aided Method to Parametric Study of Tracked Vehicles with Rigid Links." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 208, no. 4 (October 1994): 251–57. http://dx.doi.org/10.1243/pime_proc_1994_208_192_02.

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This paper demonstrates the applications of a computer aided method (CAM) to the parametric study of tracked vehicles with rigid links, commonly in use in agriculture, construction and logging. The results of the study show that the track pitch, number of road-wheels, initial track tension and location of the centre of gravity have a noticeable effect on tractive performance over soft terrain. It is also found that by careful selection of a combination of design parameters, vehicle performance can be significantly improved. It is shown that the computer aided method can play a significant role in design optimization of tracked vehicles with rigid links and in the evaluation of vehicle candidates for a given mission and environment.

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Zhou, Fa Liang, Xiao Jun Xu, and Hao Yue Zhang. "Design and Analysis of Steering Mechanism for Small Tracked Vehicle." Applied Mechanics and Materials 701-702 (December 2014): 659–65. http://dx.doi.org/10.4028/www.scientific.net/amm.701-702.659.

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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.

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Nicolini, Andrea, Francesco Mocera, and Aurelio Somà. "Multibody simulation of a tracked vehicle with deformable ground contact model." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 233, no. 1 (June 26, 2018): 152–62. http://dx.doi.org/10.1177/1464419318784293.

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In this paper, the realisation of a multibody model of a tracked machine is described. A new compact modelling of the tracks–soil interaction is presented and soil mechanics laws for terrain response are implemented. Tracked vehicles can be used in different fields such as agriculture, military and construction. The conditions of the terrain on which they operate may vary a lot, in terms of soil composition, slope and roughness. For this reason, performance of tracked vehicles is difficult to predict without a great number of field tests. The model is developed in a multibody code that makes it possible to investigate its dynamic and kinematic behaviour in several operating conditions. A specific routine is implemented in the multibody model in order to simulate the behaviour of the tracked vehicle on deformable terrains. The main hypothesis of this paper is that the terrain deformation could be in a narrow zone affected by the vehicle. Thus, the deformation of the soil is kinematically correlated to the vehicle. Soil mechanics equations are implemented on each track portion and solved only for track links in contact with the soil. The latter is modelled as a rigid body and terrain stress or deformation are not directly computed, thus simplifying solution and terrain modelling despite obtaining coherent results in terms of vehicle traction force, slip and sinkage. Results are reported pointing out performance of the tracked machine on different ground conditions.

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Sarwar, M. K., Toshikazu Nakanishi, and A. A. Shabana. "Chain Link Deformation in the Nonlinear Dynamics of Tracked Vehicles." Journal of Vibration and Control 1, no. 2 (April 1995): 201–24. http://dx.doi.org/10.1177/107754639500100205.

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In this investigation, a computational finite element procedure for the deformation and stress analysis of the chain links of tracked vehicles is presented and used to examine the validity of using the static approach in the design and stress analysis of tracked vehicles. The contact forces resulting from the interaction between the track links and the vehicle components (sprocket, idler, and the rollers) as well as the interaction between the track links and the ground are evaluated using continuous force models, which are used to define generalized contact forces associated with the deformation degrees of freedom of the track links using the virtual work. The dynamic forces including the contact forces used in the finite element procedure developed in this investigation are evaluated using a 54-body vehicle model in which the track is modeled as a closed kinematic chain with 42 degrees of freedom. It is demonstrated in this study that the effect of the contact forces is more significant as compared to the effect of the rigid-body inertia forces of the chain links, and consequently, it is assumed that the deformation of the track links does not have a significant effect on the overall motion of the vehicle. In the finite element computational procedure used in this study, three-dimensional solid elements are used to discretize the links of the track chain. The numerical results presented in this investigation demonstrate that the use of the static analysis may lead to low estimates of the stresses of the track links as compared to those obtained by a dynamic stress analysis that takes into consideration the time history of the forces.

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Dhir, A., and S. Sankar. "Dynamics of off-Road Tracked Vehicles Equipped with Trailing Arm Suspension." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 209, no. 3 (July 1995): 195–215. http://dx.doi.org/10.1243/pime_proc_1995_209_204_02.

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A two-dimensional computer simulation model is developed for dynamic analysis of high-mobility tracked vehicles fitted with a trailing arm suspension system. The simulation model is oriented as a design tool for detailed analysis of vehicle suspension dynamics and ride quality assessment. The Lagrangian model formulation of a tracked vehicle is derived by considering a rigid terrain of an arbitrary profile and constant forward vehicle speed. The model incorporates detailed representations of a vehicle suspension system and dynamic wheel-track-terrain interactions. The wheel forces are evaluated based on an adaptive footprint formulation of a wheel/track-terrain contact patch, and the track forces are modelled based on kinematic considerations. The computer model predictions are validated against field measurements, which were gathered from an extensive field testing of an in-service armoured personnel carrier. The comparison between measured and simulated dynamic responses exhibits a fairly close correlation.

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Chen, Zhaomeng, Xiaojun Zhou, Zhe Wang, Yaoheng Li, and Bo Hu. "A Novel Emergency Braking Control Strategy for Dual-Motor Electric Drive Tracked Vehicles Based on Regenerative Braking." Applied Sciences 9, no. 12 (June 18, 2019): 2480. http://dx.doi.org/10.3390/app9122480.

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Dual-motor electric drive tracked vehicles (DDTVs) have drawn much attention in the trends of hybridization and electrification for tracked vehicles. Their transmission chains differ significantly from the traditional ones. Due to the complication and slug of a traditional tracked vehicle braking system, as well as the difference of track-ground with tire-road, research of antilock braking control of tracked vehicles is rather lacking. With the application of permanent magnet synchronous motors (PMSMs), applying an advanced braking control strategy becomes practical. This paper develops a novel emergency braking control strategy using a sliding mode slip ratio controller and a rule-based braking torque allocating method. Simulations are conducted under various track-ground conditions for comparing the control performance of the proposed strategy with three other strategies including the full braking strategy, traditional antilock braking strategy, as well as sliding mode slip ratio strategy without the use of motors. For an initial speed of 80 km/h, simulation results show that the proposed control strategy performs the best among all strategies mentioned above. Several hardware-in-the-loop (HIL) experiments are conducted under the same track-ground conditions as the ones in the simulations. The experiment results verified the validity of the proposed emergency braking control strategy.

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Furch, Jan, and Quy Hung Nguyen. "Lifetime Test of Tracked Vehicle Torsion Bars using Monte Carlo Method." Emerging Science Journal 4, no. 5 (October 1, 2020): 376–89. http://dx.doi.org/10.28991/esj-2020-01238.

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The article deals with the service life of torsion bars in tracked vehicles. The aim of the article is to show the suitability of accelerated tests and modelling for determining the service life of torsion bars, which takes many years in real operation. The design of a test bench for accelerated tests is presented together with limiting conditions, which were afterwards verified. Subsequently, a virtual model of the torsion bar of a tracked vehicle was created with the help of finite elements. Dynamic modelling was performed by MSC Adams software with a module using finite elements. Furthermore, the article shows the possibility of using the Monte Carlo method to determine the service life of torsion bars of tracked vehicles. The Monte Carlo utility of Accelerated Life Testing Analysis (ALTA) software is used to obtain failure data at specified test stress levels. Using the Monte Carlo simulation, one data set is generated containing values that are arranged in dependence on the specific lifetime distribution of the Weibull distribution. Finally, a comparison of the experiment with the calculated values is performed. The results obtained can be used to compile an accelerated test plan. This modelling design saves a lot of money and time to determine the life of the torsion bar in tracked vehicles.

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Nakanishi, Toshikazu, Xuegang Yin, and A. A. Shabana. "Dynamics of Multibody Tracked Vehicles Using Experimentally Identified Modal Parameters." Journal of Dynamic Systems, Measurement, and Control 118, no. 3 (September 1, 1996): 499–507. http://dx.doi.org/10.1115/1.2801173.

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The mode shapes, frequencies, and modal mass and stiffness coefficients of multibody systems such as tracked vehicles can be determined using experimental identification techniques. In multibody simulations, however, knowledge of the modal parameters of the individual components is required, and consequently, a procedure for extracting the component modes from the mode shapes of the assembled system must be used if experimental modal analysis techniques are to be used with general purpose multibody computer codes. In this investigation, modal parameters (modal mass, modal stiffness, modal damping, and mode shapes), which are determined experimentally, are employed to simulate the nonlinear dynamic behavior of a multibody tracked vehicle which consists of interconnected rigid and flexible components. The equations of motion of the vehicle are formulated in terms of a set of modal and reference generalized coordinates, and the theoretical basis for extracting the component modal parameters of the chassis from the modal parameters of the assembled vehicle is described. In this investigation, the track of the vehicle is modeled as a closed kinematic chain that consists of rigid links connected by revolute joints, and the effect of the chassis flexibility on the motion singularities of the track is examined numerically. These singularities which are encountered as the result of the change in the track configuration are avoided by using a deformable secondary joint instead of using the loop-closure equations.

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Journal articles on the topic 'Tracked vehicles'

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