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TECHNICAL PAPERS

Track Tension Estimation in Tracked Vehicles Under Various Maneuvering Tasks

[+] Author and Article Information
Kunsoo Huh, Daegun Hong

School of Mechanical Engineering, Hanyang University, Sungdong-ku, Haengdang-dong 17th, Seoul, Korea 133-791

J. Dyn. Sys., Meas., Control 123(2), 179-185 (Dec 11, 2000) (7 pages) doi:10.1115/1.1369110 History: Received December 08, 1999; Revised December 11, 2000
Copyright © 2001 by ASME
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References

Huh, K., Cho, B. H., and Choi, J. H., 1999, “Development of a Track Tension Monitoring System in Tracked Vehicles,” ASME IMECE Conference, DSC-Vol. 67, pp. 461–468
Choi, J. H., Bae, D. S., and Ryu, H. S., 1999, “A compliant double pin track link model for multibody tracked vehicle,” ASME Design Engineering Technical Conference, DETC99/VIB-8199.
Ryu,  H. S., Bae,  D. S., Choi,  J. H., and Shabana,  A., 2000, “A Compliant Tank Link Model for High-Speed, High-Mobility Tracked Vehicle,” Int. J. Numer. Methods Eng., 48, pp. 1481–1502.
Wong, J. Y., 1993, Theory of Ground Vehicles, 2nd ed., J. Wiley, NY.
Grewal, M. S. and Andrews, A. P., 1993, Kalman Filtering Theory and Practice, Chapter 5, Prentice Hall, NY.
Kar,  M. K., 1987, “Prediction of Track Forces in Skid-steering of Military Tracked Vehicles,” J. Terramech., 24, No. 1, pp. 75–86.
Ehlert,  W., Hug,  B., and Schmid,  I. C., 1992, “Field Measurements and Analytical Models as a Basis of Test Stand Simulation of the Turning Resistance of Tracked Vehicles,” J. Terramech., 29, No. 1, pp. 57–69.
Ma, Z.-D., and Perkins, N. C., 1999, “Modeling of Track-Wheel-Terrain Interaction for Dynamic Simulation of Tracked Vehicle Systems,” ASME paper DETC99/VIB-8200, Proceedings of the ASME 17th Biennial Conference on Mechanical Vibration and Noise, Las Vegas.
Nakanishi,  T., Yin,  X., and Shabana,  A. A., 1996, “Dynamics of Multibody Tracked Vehicles Using Experimentally Identified Modal Parameters,” ASME J. Dyn. Syst., Meas., Control, 118, pp. 499–507.
McCullough,  M. K., and Haug,  E. J., 1986, “Dynamics of High Mobility Track Vehicles,” ASME Journal of Mechanisms, Transmissions, and Automation in Design, 108, pp. 189–196.
Baladi, G. Y., and Rohani, B., 1979, “A Terrain-Vehicle Interaction Model for Analysis of Steering Performance of Track-Laying Vehicles,” Technical Report GL-79-6, U.S. Army Engineer Waterways Experiment Station.

Figures

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Passive track tensioner
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Track tension flow along the track path
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Free body diagram of the road-wheel #1 assembly
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Free body diagram of the road-wheels
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Geometry of the idler and the track tensioner
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Tracked vehicle driving on a sloping terrain
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Geometrical relation among the angles
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Block diagram of the track tension monitoring system
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Longitudinal traveling on the sloping road—Task 1
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Rough road profile (Profile IV)—Task 2
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Traveling across a sloping road—Task 3
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Track tension estimation for the Task 1 simulation
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Track tension estimation for the Task 2 simulation
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Track tension estimation for the Task 3 simulation
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Track tension estimation in turning (Task 4)

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