Reduced-Order Dynamic Modeling of a Tracked Vehicle Based on Geometric Constraints of the Ground

In this paper, a reduced two-dimensional multi-rigid body dynamics model is developed for tracked vehicles based on ground constraints. Firstly, the inertial coordinate system that moves with the vehicle is established, so that the vehicle body has only two degrees of freedom of \(y,\psi\) for planar motion, and the reduced dynamics model of the tank car is obtained through the constraints of the road contact model as well as the track wrapping model. Secondly, the specific parameters of the working conditions are given, and the reduced tank car model is simulated in two typical driving conditions of single-frequency road excitation as well as pothole passability on the road surface. Finally, by comparing the results of frequency response characteristics of the reduced model of tracked vehicle and RecurDyn model in single-frequency road excitation and random road excitation are discussed and analyzed, and the response characteristics of spatial frequency, vehicle speed, amplitude, and other parameters to vehicle vibration are derived, which verifies the simplicity and feasibility of the reduced model.