tracked vehicle support in...

Tracked Vehicle Support in Chrono::Vehicle Preview of the vertical application for track support in Chrono:: Vehicle

Machine-Ground Interaction Consortium (MAGIC), May 12-13, 2015

Dr. Holger Haut, SBEL UW-Madison

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Agenda

• Introduction • Track support

• Track systems general • Characteristic

• Background

• Examples

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• Tracks for Chrono::Vehicle • Motivation • Specification • Concept

• Topology • Modeling • Vehicles

• Evaluation models

• Summary

Introduction – Track Support Chrono::Vehicle

• In addition to the wheeled ground vehicles there will be in future a support for tracked vehicles in Chrono::Vehicles

• The same strategy for wheeled ground vehicles will be used for the track support in Chrono::Vehicle

• In wheeled and tracked vehicles different key aspects have to be realized in the modeling environment

• E.g. the different suspension systems of wheeled vehicles are clearly defined

• Track systems (simplified in sprocket&shoe) can be very different, depending on their applications (e.g. battle tank vs doozer vs mining machines)

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Track Systems – Characteristic

• High number of parts

• High number of chain links

• High degree of freedom

• Parts are linked to a system

• Leads to a high cross-linked system

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• Chain systems are still challenging for modeling and simulation

• Parts

• 61 rigid parts

• Joints

• 54 revolute joints

• Degrees of freedom (DOF)

• 61 DOF

• Contacts

• 690 contacts


• Each individual parameter affects the full system

• E.g. tension force affects the kinematic

• Important for

• Design engineer who has to take care of the different parameters

• Simulation and analysis engineer who has to run the simulation

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• Manifold different systems

• Each application has it’s own challenges

• Kinematic is defined more or less by form closure

• Free kinematic

• Contact

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• Track systems depends on manifold parameters and their values

• Drives the system to an modeling AND analyses problem

• Dependencies give the opportunity for experts for a good analysis

• Need for a simulation application to get more knowledge about the system and understanding

• Good example is the analyze of the mining machines with an own developed plug-in for Adams

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• Chain systems are still challenging for modeling and simulation

Track Systems – Motivation

• Chrono::Vehicle offers templates for wheeled vehicle

• Next step a template based extension for track systems for Chrono:: Vehicle

• Different tracked vehicle MBS software are available (MSC, Function Bay etc.) but the soil is still a challenge

• Chrono:: offers DEM/DVI, multiphysics, etc.

• An open and expandable solution for tracked vehicle is very useful in the viewpoint of an analyst

• Motivated by a project of the US Army

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Track Systems – Specification

• Modeling and simulation systems for tracked vehicles (tanks)

• Template based middleware software

• Different kinematic systems of the track chain

• Tracked vehicle model includes a full vehicle with a full modeled track systems (no hybrid- or analytical-track chain)

• Automated positioning of the shoes as a track chain around the sprocket, idler, wheels

• Interaction between each track shoe and soil (force based)

• Different tension systems for the road wheel (torsion bar, hydro-pneumatic suspension)

• Powertrain template

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Tracks for Chrono::Vehicle – Concept

• RYU, H.S, et al. A complimant track link model for high-speed, high-mobility tracked vehicles. International Journal for Numerical Methods in Engineering. Int. J. Numer. Meth. Engng 2000, 2000, Bd. 48, 1481-1502

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• Full vehicle of a tank without turret


• Pictures: [online 5.11.2015] http://www.primeportal.net/tanks/ulrich_wrede/leopard_2a5_nl/ Leopard 2, Ulrich Wrede http://www.psm-spz.com/index.php?id=antrieb_laufwerk&L=1%27%22

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• Left & right running gear (track system)

• Direct attached components (standard)

• Decoupled running gear carrier (Infantry fighting vehicle Puma)

• Running gear carrier includes e.g. suspension and fuel tank

http://www.primeportal.net/tanks/ulrich_wrede/leopard_2a5_nl/




• Left and right running gear (track systems)

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Dash lines and light colors : Alternative optionBlue boxes: Assemblies and PartsGreen arrows: Connection elementsRed arrows: Force/Torque connections

Chassis (Hull)

Running Gear Carrier Right Running Gear Carrier Left

Road WheelSupport Roller

IdlerSprocket

Fixe

d

Join

t

Bu

shin

g

Rev

olu

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oin

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TensionsystemSlider/Arm

Re

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Join

t

Rev

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TensionsystemSlider/Arm

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• Pictures: [online 5.11.2015] http://www.primeportal.net/tanks/ulrich_wrede/leopard_2a5_nl/ Leopard 2, Ulrich Wrede

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• Tension systems

• Road wheels

• Torsions bar

• End stop

Torsion bar left side

Torsion bar right side

Mounting point torsion bar left

side

Damper

Drive direction Brake

Transmission (countershaft)



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• Tension systems

• Road wheels

• Torsions bar

• Linear

• Nonlinear

• Hydro-pneumatic

• End stop

• Idler

Detail TensionsystemSlider or Arm

Slider/Arm (Boggie)

Re

volu

te/

Tra

nla

tio

nal

Jo

int

Ten

sio

nFo

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/To

rqu

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nd

Sto

pRoad Wheel/

Idler

Running Gear Right/Left


• Pictures: [online 5.11.2015] http://www.primeportal.net/tanks/ulrich_wrede/leopard_2a5_nl/ Leopard 2, Ulrich Wrede

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• Road wheels

• Idler

• Support Roller

• Remark • Rubber rim



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• Road wheels

• Idler

• Support Roller


• Pictures: [online 5.11.2015] http://www.primeportal.net/tanks/ulrich_wrede/leopard_2a5_nl/ Leopard 2, Ulrich Wrede, http://www.panzer-modell.de/referenz/in_detail/leo2a5/leo2a5.htm

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• Sprocket





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• Sprocket

Fixe

d J

oin

tDisc

Disc

Disc

Fixe

d J

oin

tFi

xed

Jo

int

ContactGeometry

Contact Geometry

Contact

ContactGeometry

Running Gear Right/Left

Fixe

d J

oin

t


• Track systems for tanks

• Two significant differences for simulation modeling

• Connection of the shoes

• Power transmission at the sprocket/shoe

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Actual tank track systems

Connection of the shoes

1 pin shoe 2 pin shoe

Power transmission

Shoe geometry

Connector geometry


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Power transmission of sprocket & shoes

Shoe geometry Connector geometry

• Pictures: [online 5.11.2015] http://www.primeportal.net/tanks/ulrich_wrede/leopard_2a5_nl/ Ulrich Wrede http://www.panzer-modell.de/referenz/in_detail/leo2a5/leo2a5.htm http://www.army-technology.com/contractors/tracks/diehl/diehl3.html http://www.panzer-modell.de/referenz/in_detail/skorpion/Bild_015.jpg




http://www.panzer-modell.de/referenz/in_detail/leo2a5/leo2a5.htm





http://www.army-technology.com/contractors/tracks/diehl/diehl3.html




http://www.panzer-modell.de/referenz/in_detail/skorpion/Bild_015.jpg





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Connection of the shoes

1 pin shoe 2 pin shoe

• Pictures: [online 5.11.2015] http://www.primeportal.net/tanks/ulrich_wrede/leopard_2a5_nl/ Ulrich Wrede http://www.panzer-modell.de










• Krapke, Paul-Werner. Leopard 2 – Sein werden und seine Leistung. www.books.google.de [online 8.26.2011] http://books.google.de/books?id=q1gd7AuQvalC&dg=Leopard%202

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• 2 pin track shoe

• Pin with rubber (bushing)

• Pin is fixed connected with end connector and middle connector

http://www.books.google.de/

http://books.google.de/books?id=q1gd7AuQvalC&dg=Leopard 2


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• 2 pin track shoes


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• 1 pin track shoes

Tracks for Chrono::Vehicle - Evaluation Models

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• Actual selected vehicles for evaluation

• M113

• Leopard 2

• M1 Abrams

• Puma

• Generating vehicle design data as good as possible

• Non-confidential

• Picture: [Online 05.11.2015], http://www.autobild.de/bilder/das-ist-der-leopard-2-revolution-4207050.html#bild7

http://www.tanea.gr/news/greece/article/5021945/nekros-stratiwths-apo-anatroph-stratiwtikoy-oxhmatos-sthn-ethnikh-athhnwn-lamias/ http://www.baainbw.de/portal/a/baain/!ut/p/c4/LYqxDoMwDAX_yA5th7YblKUrSxs2AxGyahwUmbLw8U2kvpNuuYc9ZpS- PJNxVBJ8ox_5PuwwELECfWwLIkAiQQlf5T8FGKMGK7agxtlzIosJ1phMStlSygV4Qu-qtnGns_uvOm61f_Td1V3aZ9Phuiz1D3CsTfw!/ http://de.wikipedia.org/wiki/M1_Abrams

http://www.autobild.de/bilder/das-ist-der-leopard-2-revolution-4207050.html#bild7














http://www.baainbw.de/portal/a/baain/!ut/p/c4/LYqxDoMwDAX_yA5th7YblKUrSxs2AxGyahwUmbLw8U2kvpNuuYc9ZpS-




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• Track systems and vehicles

• M113

• Armored personnel carrier (APC)

• Well-known tank

• Both version of power submission at shoe/sprocket

• Picture: [Online 5.11.2015] http://www.army-technology.com/contractors/tracks/diehl/diehl3.html http://www.panzer-modell.de/referenz/in_detail/skorpion/Bild_015.jpg http://www.panzer-modell.de/referenz/in_detail/M113_Moersertraeger/M113_Moersertraeger_020.jpg












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• M1 Abrams

• Leopard 2

• Main battle tank (MBT)

• Well-known tank

• Modern design

• Actual track system

• High power (1500hp)

• Weight 62t (Leopard 2A6)

• High velocity

• Krapke, Paul-Werner. Leopard 2 – Sein Werden und seine Leistung. www.books.google.de [online 8.26.2011] http://books.google.de/books?id=q1gd7AuQvalC&dg=Leopard%202.

• KMW Kraus-Maffei Wegmann. www.kmweg.de. [Online] 2011. [Zitat vom: 29.8.2011.] http://www.kmweg.de/3037-ZG93bmxvYWRfaWQ9NTk0MSZtZWRpZW%vcmRuZXJfaWQ9Mzc4MCZwYXJibnRfaWQ9NTQzMA~rechte~navi~download-center~downloads-detail.html

http://www.books.google.de/

http://books.google.de/books?id=q1gd7AuQvalC&dg=Leopard 2

http://www.kmweg.de/


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• Puma

• Infantry fighting vehicle (IFV)

• One of the newest designs

• Harmonized to actual MBTs

• High power (~1000 hp)

• Weight 31t-41t

• Light weight track system

• http://www.diehl.com/de/diehl-defence/produkte/kettenlaufwerkkomponenten/leichtgewichtsketten.html

Summary

• Existing templates for wheeled vehicles in Chrono::Vehicles

• Simulation environment for special applications are needed

• Templates for tracked vehicles will be available in Chrono::Vehicle

• Different templates will be developed, with the focus on tanks

• Track support for Chrono::Vehicle will be integrated

• Access to the Chrono:: components (e.g. DEM/DVI for soft soil)

• Application and evaluation for different tanks are in progress

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Tracked Vehicle Support in Chrono::Vehicle

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