Mathematical modeling of motion allows at the design stage to assess the impact of the design and operational parameters of tracked vehicles on their performance, determine the qualitative and quantitative performance indicators, and consider controllability issues. The use of the RecurDyn application with a library of specialized extension packages allows to obtain a mathematical model of the vehicle, taking into account its design with a specified degree of detail. A model of a tracked vehicle with a torsion bar suspension was developed using the Professional extension packs and the Track (HM) library of the Toolkit extension package. It allows simulating standard maneuvers on various supporting surfaces. The CoLink extension package implements a control model that ensures the movement of the tracked vehicle along a given trajectory. The basis for the development of the motion control model is a technique based on predicting the position of the vehicle after a given forecast time. As a control, the speed difference between the leading and lagging tracks was adopted. It ensures movement along a given trajectory. The difference in speeds ∆V is determined using PID regulation by the values of the lateral deviation of the vehicle from the given trajectory and the angular deviation of the longitudinal axis of the vehicle from the tangent to the trajectory in the predicted position. The control model allows to simulate the movement of a vehicle with a differential and a planetary rotation mechanism. The simulation of movement along a circular trajectory and the snake maneuver was carried out. The movement of a tracked vehicle with a planetary steering mechanism on a solid support surface with a friction 0.7 coefficient was simulated.
Based on the simulation results, a conclusion about the adequacy of the mathematical model of the tracked vehicle and the performance of the presented motion control model was made. The developed model allows simulating various maneuvers of a tracked vehicle to assess the stability of movement and controllability, to determine the rational parameters of the tracked mover based on the results of simulation of movement at various heights of irregularities and speeds of movement.
