F-5-2-2 Development of a Multi-body Dynamics Simulation Tool for Tracked Vehicles, Part II : Application to Track Tension Controller Design

Abstract

Multi-body Dynamics simulation of tracked vehicles is very useful not only for the analysis of dynamic behaviors, but also for the performance evaluation of the chassis controllers. The track tension is closely related to the maneuverability of tracked vehicles and the durability of tracks and suspension systems. In order to minimize the excessive load on the tracks and to prevent the peel-off of tracks from the sprocket, the track tension needs to be maintained at the optimum level throughout the maneuver. In this paper, a track tension control system is developed for tracked vehicles which are subject to various maneuvering tasks. It consists of track tension estimator, track tension controller and hydraulic servo unit. The track tension is estimated in real-time based on the idler assembly model. Using the estimated track tension and considering the highly nonlinear hydraulic units, a fuzzy logic controller is designed in order to control the track tension in tracked vehicles. The performance of the proposed tension control system is verified through the simulation of the Multi-body Dynamics simulation tool.