THE TRACKED VEHICLE MOTION MATHEMATICAL MODEL BASED ON GIBBS-APPELL EQUATIONS

Authors

  • Andrii V. Rudyi Hetman Petro Sahaidachny National Army Academy
  • Denys V. Rudavskyi Karpenko Physico-mechanical institute of the NAS of Ukraine

DOI:

https://doi.org/10.33099/2311-7249/2015-24-3-113-116

Keywords:

tracked vehicle, nonholonomic constraint, motion equation, energy of acceleration, angular acceleration.

Abstract

This article is dedicated to the study of the curvilinear motion of tracked vehicles on the plane. Based on the Gibbs-Appell equations the mathematical model of the tracked vehicle on the two-dimensional surface has been formulated as a mechanical system with holonomic constrains. The constructed system of differential equations of tracked vehicle motion in corresponding quasi-coordinates takes into account the soil traction and resistance forces at the rectilinear sections, and at its turns. Furthermore, angles to the horizontal plane and the machine course angle relative to the slope of plane were also taken into consideration. Obtained dependences between the defined kinematic parameters of tracked vehicles can be effectively used for improving its transmission and control systems. 

Author Biography

Denys V. Rudavskyi, Karpenko Physico-mechanical institute of the NAS of Ukraine

Doctor of Physical and Mathematical Sciences

References

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Published

2015-12-30

Issue

Section

Theoretical Foundations of Information Technologies Creation and Using