Influence of Track-Assembly Geometryon Mobility Over Rigid Terrai
Typ
Examensarbete för masterexamen
Master's Thesis
Master's Thesis
Program
Complex adaptive systems (MPCAS), MSc
Publicerad
2024
Författare
Körner, Alexander
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
This thesis considers the modeling and simulation of tracked vehicles. Specifically it aims
to investigate how the geometry of the track-assembly affects its mobility over rigid obstacles.
This is done with the purpose of aiding in the Swedish Defence Research Agency’s
(FOI) goal of developing parametrized virtual models of tracked vehicles for researching
mobility.
The vehicle is modeled as a multibody dynamics simulation consisting of rigid bodies.
This entails solving index-3 differential algebraic equations (DAE) with high precision.
The validation of the vehicle model and simulation included the comparison of two methods
of solving the DAE in question, both of which require the solving of a saddle point
problem. Thus for each method two iterative saddle point problem solvers have been
compared as well. After choosing a numerical method the mobility of the model is evaluated
on rigid obstacles with varying track-assembly geometry.
The evaluation shows that the track-assembly geometry significantly impacts the models
ability to traverse vertical step obstacles and half round obstacles. The results suggest
that this applies to a general real tracked vehicle, however a more thorough model validation
and investigation into the numerical methods is required to draw any quantitative
conclusions.
Beskrivning
Ämne/nyckelord
Project Chrono, Tracked vehicle, Track assembly, vehicle dynamics, vehicle simulation, multibody simulation, vehicle modeling, rigid obstacles.