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Tracked transportation vehicles have appeared two centuries ago. Since then, people have begun to study tracked transportation vehicles and have obtained rich accumulation. At first, the tracked traveling device was only used on agricultural vehicles, and the tank only appeared in the First World War. With the deepening of research, people gradually realized that the design parameters of the vehicle have an extremely important impact on the performance of the entire vehicle, and the mechanical relationship between the vehicle and the ground is closely related to the maneuverability of the crawler transport vehicle. For example, the load on the ground and the traction of the vehicle will be affected by the position of the center of gravity of the vehicle, and the running resistance and subsidence of the crawler transport vehicle will be affected by the crawler drive system. Since World War II, people have conducted more in-depth research on concepts such as ground pressure. Ground pressure is an important indicator of the overall performance of a crawler transport vehicle. It is only applicable to small road wheels, small track and long-pitch crawlers, but not applicable to short-pitch crawlers and large road wheels on high-speed crawler transport vehicles. Because the pressure value has changed significantly during the grounding length of the track, the concept of the average value of the maximum pressure under all road wheels is proposed to solve it. Baker is the proponent and founder of ground mechanics. Since then, people have systematically and comprehensively studied ground mechanics.

With the maturity of the theory of multi-body system dynamics and the continuous development of computer science and technology, numerical simulation has gradually been widely used in the research of tracked transportation vehicles. Through numerical simulation, people can predict the performance of the tracked transportation vehicle system. The result Ideal. In the last century, the United States was the first to use numerical simulation methods to conduct dynamic simulation research on tank performance. Dynamic simulation software has been released one after another, such as, etc.

Research Status of Tracked Transport Vehicles and Development of Dynamic Modeling

Due to the changing environment of crawler transport vehicles, and the very complex mechanical systems of their own, coupled with people’s understanding of road characteristics and insufficient research on the response of vehicles to road spectra, people have been using "experiences" for a long period of time. "Experiment" is a traditional research mode to study tracked transport vehicles. Because this research mode requires a wealth of empirical formulas and a large number of experiments as the basis, it has the disadvantages of large investment in cost and long development cycle.

In recent years, the basic theory of tracked transport vehicles has been rapidly developed, and in continuous improvement, people have a more in-depth understanding of tracked transport vehicles. First, due to the continuous development and improvement of ground mechanics, people have a deeper understanding of the force relationship between the vehicle and the ground. Secondly, with the rapid development of computer technology and numerical simulation in the analysis and performance prediction of tracked transportation vehicles The continuous application of the algebraic-differential equations used to describe the dynamic performance of tracked vehicles has emerged and been solved. Third, the gradual maturity of the dynamics of multi-body systems has pointed out the way out for the solution of the complexity of tracked vehicles. At the same time, through the use of multi-body dynamics, it is possible to quantify the various components of the tracked transport vehicle into rigid or flexible bodies, and then use various constraints to combine them, and finally obtain the tracked transport vehicle’s performance by solving the constraint equations and dynamics equations. Dynamic performance.

Research Status of Tracked Transport Vehicles and Development of Dynamic Modeling

People have established different vehicle models according to different research purposes and objects. The first is to use the analytical vehicle model for simulation. This method is mainly to quantify and predict the improvement results before the test and the final design. The performance evaluation of tracked transport vehicles can be achieved with the help of certain simulation software, such as swallowing models, models, and two-dimensional models. With the development of the times, according to the difference between high-speed crawler transporter and low-speed crawler transporter, a high-speed crawler transporter model and a low-speed crawler transporter model have been designed. In 2009, a co-simulation method of tracked transportation vehicles was proposed. The modeling process of tracked transport vehicles is a process from simplicity to refinement and from scratch. The models that people can use today include rigid track models, flexible track models, and hybrid track models.