Modeling and Simulation of a Multi-Unit Tracked Vehicle

A multi-unit tracked vehicle such as a continuous haulage system is widely used in underground mining applications due to its high mobility and payload capacity on rugged and soft terrain. To automate such a system, a high fidelity model of a tracked vehicle is essential in designing a controller for each tracked vehicle in the system, and a system model is required to simulate its response to input commands. This thesis presents the 2-D mathematical models of a tracked vehicle and a multi-unit tracked vehicle. All existing track-terrain interaction models are investigated and modified. By employing the modified track-terrain interaction model and applying Newton's second law of motion, the equations of motion of both single and multi-unit tracked vehicles can be derived. Computer programs for simulating the motions of these tracked vehicles on level ground have been implemented on a digital computer based on the derived system of differential equations. The fourth-order Runge-Kutta and Keun's methods are adopted to numerically integrate these differential equations. The simulation results clearly show that the programs can accurately predict the motion of a tracked vehicle maneuvered on horizontal plane, and closely predict the response of a multi-unit tracked vehicle operated on level ground its command inputs.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Mechanical Engineering

Department dc:contributor.department

Mechanical Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2003

Author dc:creator

• Kanarat, Amnart

Chair dc:contributor.committeechair

• Sturges, Robert H.

Committee members dc:contributor.committeemember

• Reinholtz, Charles F.
• Myklebust, Arvid

• system modeling
• kinematic model
• tracked vehicle
• multi-unit tracked vehicle
• dynamic model
• computer simulation

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Dc Identifier Other

etd-111099-142043

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/9755