Type of Document Master's Thesis Author Kanarat, Amnart Author's Email Address firstname.lastname@example.org URN etd-111099-142043 Title Modeling and Simulation of a Multi-Unit Tracked Vehicle Degree Master of Science Department Mechanical Engineering Advisory Committee
Advisor Name Title Sturges, Robert H. Committee Chair Myklebust, Arvid Committee Member Reinholtz, Charles F. Committee Member Keywords
- system modeling
- kinematic model
- tracked vehicle
- multi-unit tracked vehicle
- dynamic model
- computer simulation
Date of Defense 1999-09-28 Availability unrestricted AbstractA 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.
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