THE TRACKED VEHICLE MOTION MATHEMATICAL MODEL BASED ON GIBBS-APPELL EQUATIONS
Keywords:tracked vehicle, nonholonomic constraint, motion equation, energy of acceleration, angular acceleration.
AbstractThis 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.
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