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

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 sy...

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Bibliographic Details
Published inSučasnì ìnformacìjnì tehnologìï u sferì bezpeki ta oboroni no. 3(24); pp. 113 - 116
Main Authors Andrii V. Rudyi, Denys V. Rudavskyi
Format Journal Article
LanguageEnglish
Published National Defence University of Ukraine named after Ivan Cherniakhovsky 01.12.2015
Subjects
angular acceleration
energy of acceleration
motion equation
nonholonomic constraint
tracked vehicle
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Summary: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.
ISSN:2311-7249
2410-7336