Simulation of 2S1 Tracked Vehicle Model with Modernized Suspension System during Crossing a Single Obstacle

Abstract

In the article, three alternative models of 2S1 platform suspension system are presented. First model is based on existing construction of 2S1 platform suspension. Two next were modernized by usage of new solutions in tracked vehicles suspension technology. The solutions are especially associated with torsion spring element and idler mechanism. The authors have assumed simulation conditions for straight line driving of the vehicle models, while they overcome a single obstacle with one track. Results of all models simulations are compared and analyzed to improve stability of the vehicle while driving. There are also used a human response filter to determine less harmful driving conditions for vehicle crew.

A new suspension system of an autonomous caterpillar platform

“…The construction process of this model and also the simulation of the model was described by Nabagło et al (2011). They described also modified models of the tracked vehicle (Nabagło et al, 2014). The second model is the so called first modernized model, where the torsional bars in the second axle have been replaced with spiral springs.…”