Title page for ETD etd-111099-142043


Type of Document Master's Thesis
Author Kanarat, Amnart
Author's Email Address akanarat@vt.edu
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
Robert H. Sturges, Jr. Committee Chair
Arvid Myklebust Committee Member
Charles F. Reinholtz 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
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.

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