Dynamic Analysis of a Tracked Vehicle Based on a Subsystem Synthesis Method

摘要

This paper concerns about subsystem synthesis method for dynamicrnanalysis of complex multi-body tracked vehicle systems which can berndivided into several subsystems. Using subsystem synthesis method,rnsubsystems in the complex model can be independently analyzed withrnvirtual massless reference bodies. The virtual massless reference bodyrnhas information of position, velocity and acceleration for base body. Inrnthe subsystem synthesis method, analyses of position, velocity andrnacceleration of the subsystems are carried out in a forward recursivernfashion. For overall multi-body tracked vehicle system analysis,rnsubsystems can be synthesized to the base body with effective matrixrnand vector from the virtual massless reference body of each subsystem.rnUsing these effective matrix and vector of subsystems, equations ofrnmotion with base body can be solved independently. After thenrnequations of motion of each subsystem can be solved using results ofrnbase body. Advantages of the proposed method are investigated inrnterms of computational efficiency and solution accuracy. In order tornshow the effectiveness of the proposed method, a multi-body trackedrnvehicle of seafloor massive sulfide has been analyzed.