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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