The mechatronic model of tracked vehicle with torsion bar suspension is presented. The model is developed in the RecurDyn application software package which allows to create a mathematical model of the vehicle taking into account its design with the necessary degree of detail. When developing the model, the Professional Expansion Packages and Track (HM) library of the Toolkit expansion package were used. The description of motion control model based on forecasting of vehicle location after specified time is given. The model is implemented in the CoLink Expansion Package. Its topology with the description of model structure and nested subsystems functions is presented. The control model allows to perform standard maneuvers of the tracked vehicle with differential and planetary steering mechanism. A lane change maneuver for the tracked vehicle with planetary steering mechanism on a solid surface with coefficient of friction 0.7 was simulated. On the simulation results basis the conclusion about the adequacy of the tracked vehicle mechanical-mathematical model and the motion control model operability is made.


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    Title :

    Mechatronic Model of Tracked Vehicle for Controlled Motion Simulation


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:

    Conference:

    International Russian Automation Conference ; 2020 ; Sochi, Russia September 06, 2020 - September 12, 2020



    Publication date :

    2021-03-19


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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