Transversal vibration analysis of the upper span of nonlinear closed-loop track systems

Abstract

In order to analyze the effect of track pre-tension on the transversal vibration of the upper track, a multibody dynamics model of a tracked vehicle needs to be established. In view of the complex structure of tracked vehicles, the computational efficiency of conventional methods cannot meet engineering design requirements. In this paper, the Riccati Transfer Matrix Method for nonlinear closed-loop multibody systems is proposed and applied to the modeling and simulation of tracked vehicle systems. It avoids the overall dynamic equations of the system and achieves efficient computation with a smaller matrix scale. By selecting accelerations and forces as elements of the state vectors instead of coordinates and forces, linearization is avoided. The track chain is cut in a revolute joint. Its effect on the closed-loop system is represented by a set of constraint equations and internal constraint forces. An improved Riccati transformation for closed-loop systems is proposed to connect the internal force and acceleration parts in the state vector with the system constraint internal forces. The track pre-tension can be adjusted by moving the position of the idler relative to the chassis. The root mean square of vertical acceleration of mid-span with respect to the chassis is selected to evaluate the transversal vibration of the upper track. Simulation of a tracked vehicle driving on different road conditions is carried out with different idler displacements. Finally, a reasonable adjustment strategy for the track tensioner is proposed corresponding to different running conditions.