{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/9755"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/9755","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Modeling and Simulation of a Multi-Unit Tracked Vehicle","abstract":"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.","abstract_html":"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.","abstract_has_math":false,"creators":["Kanarat, Amnart"],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Mechanical Engineering","degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Sturges, Robert H."],"committee_members":["Reinholtz, Charles F.","Myklebust, Arvid"],"year":2003,"date_issued":"2003-12-05","date_published":"2003-12-05","updated_at":"2026-07-22T22:19:29Z","subjects":["system modeling","kinematic model","tracked vehicle","multi-unit tracked vehicle","dynamic model","computer simulation"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-111099-142043"],"render_values":[{"text":"etd-111099-142043","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/9755","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Sturges, Robert H."]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Reinholtz, Charles F.","Myklebust, Arvid"]},{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["Kanarat, Amnart"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2011-08-06T14:47:56Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2011-08-06T14:47:56Z","2004-03-20"]},{"key":"dc:date.issued","label":"Date","values":["2003-12-05"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["system modeling","kinematic model","tracked vehicle","multi-unit tracked vehicle","dynamic model","computer simulation"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-111099-142043"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/9755"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["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."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:format.medium","label":"Dc Format Medium","values":["ETD"]},{"key":"dc:title","label":"Title","values":["Modeling and Simulation of a Multi-Unit Tracked Vehicle"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Sturges, Robert H."],"dc:contributor.committeemember":["Reinholtz, Charles F.","Myklebust, Arvid"],"dc:contributor.department":["Mechanical Engineering"],"dc:creator":["Kanarat, Amnart"],"dc:date.accessioned":["2011-08-06T14:47:56Z"],"dc:date.available":["2011-08-06T14:47:56Z","2004-03-20"],"dc:date.issued":["2003-12-05"],"dc:description.abstract":["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."],"dc:description.degree":["Master of Science"],"dc:format.medium":["ETD"],"dc:identifier.other":["etd-111099-142043"],"dc:identifier.uri":["http://hdl.handle.net/10919/9755"],"dc:publisher":["Virginia Tech"],"dc:rights":["In Copyright"],"dc:rights.uri":["http://rightsstatements.org/vocab/InC/1.0/"],"dc:subject":["system modeling","kinematic model","tracked vehicle","multi-unit tracked vehicle","dynamic model","computer simulation"],"dc:title":["Modeling and Simulation of a Multi-Unit Tracked Vehicle"],"dc:type":["Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["masters"],"thesis:degree_name":["Master of Science"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:19:29Z"}