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Multi-Body Dynamics Model of a Tracked Vehicle Using a Towing Winch for Optimal Mobility Control and Terrain Identification

[+] Author Affiliations
Joshua T. Cook, Laura Ray

Dartmouth College, Hanover, NH

James Lever

US Army, Cold Regions Engineering and Research Laboratory, Hanover, NH

Paper No. DSCC2016-9626, pp. V002T30A001; 8 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME


This paper presents a generalized, multi-body dynamics model for a tracked vehicle equipped with a winch for towing operations. The modeling approach couples existing formulations in the literature for the powertrain components and the vehicle-terrain interaction to provide a comprehensive model that captures the salient features of terrain trafficability. This coupling is essential for making realistic predictions of the vehicle’s mobility capabilities due to the power-load relationship at the engine output. Simulation results are presented jointly with experimental data to validate these dynamics under conditions where no action is taken by the winch. Extended modeling includes dynamics of the hydraulic system that powers the winch so that the limitation of the winch as an actuator and the load it puts on the engine are realized. A second set of simulation results show that for a set of open loop control actions by the winch, the vehicle is able to maintain its mobility in low traction terrain by paying the towed load in and out.

Copyright © 2016 by ASME



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