An integrated three-dimensional powertrain-vehicle dynamics model for tracked vehicle analysis

Abstract

A tracked vehicle employs a special transmission to generate a speed difference between the inner and outer tracks for steering. In this paper, the dynamic model of one of the most widely used steering transmissions called double differential steering has been derived and integrated with a multi-body tracked vehicle model. A simplified multi-body model for tracks has been proposed to reduce the computational and numerical difficulties arising from a detailed three-dimensional multi-body model. The accuracy of the proposed model is demonstrated by extensive comparison with a detailed multi-body model developed using the Tracked Vehicle module of the commercial software ADAMS. Simulations are carried out using the integrated tracked vehicle model to demonstrate the effects of changes in three-dimensional vehicle dynamic performance with design changes in powertrain systems.