Abstract

AbstractThe present work is focused on the development of a non-linear dynamic mathematical model of a four-station military recovery vehicle with trailing arm hydro-gas suspension (HSU) during crane operations over flat terrain. The influence of the crane payload non-linear motion on the trailing arm dynamic behavior is brought out in the dynamic model. The model additionally contains non-linearities due to the penalty contact phenomenon, which are associated with the HSU rebound/bump-stoppers, suspension locks or between the dummy masses and ground. Second-order coupled governing non-linear differential equations of motion are formulated for 13 degrees of freedom of the vehicle, namely, sprung mass bounce, pitch and roll, angular motions of the 4 unspring masses, crane payload angular motions in the longitudinal and lateral directions as well as bounce motion of the 4 dummy masses. The equations of motion are coded and solved in MATLAB. The maximum pay-load lifting capacity could be determined by modeling the dynamic influence of the suspension locks on the recovery vehicle static equilibrium configuration, which is an essential pre-requisite before deciding upon the vehicle moving speed with the crane payload. This model is novel, generic and would provide deep insight into the development of a recovery vehicle simulator.KeywordsMilitary recovery vehicleSuspension lockTrailing armHydro-gas suspensionNon-linear dynamics

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