Propagation of nonlinearities in the inertia matrix of tracked vehicles

J. H. Choi; A. A. Shabana; Roger A. Wehage

doi:10.1115/DETC1994-0045

Propagation of nonlinearities in the inertia matrix of tracked vehicles

J. H. Choi
, A. A. Shabana
, Roger A. Wehage

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this investigation, a procedure is presented for the numerical solution of tracked vehicle dynamics equations of motion. Tracked vehicles can be represented as two kinematically decoupled subsystems. The first is the chassis subsystem which consists of chassis, rollers, idlers, and sprockets. The second is the track subsystem which consists of track links interconnected by revolute joints. While there is dynamic force coupling between these two subsystems, there is no inertia coupling since the kinematic equations of the two subsystems are not coupled. The objective of the procedure developed in this investigation is to take advantage of the fact that in many applications, the shape of the track does not significantly change even though the track links undergo significant configurations changes. In such cases the nonlinearities propagate along the diagonals of a velocity influence coefficient matrix. This matrix is the only source of nonlinearities in the generalized inertia matrix. A permutation matrix is introduced to minimize the number of generalized inertia matrix LU factor evaluations for the track.

Original language	English
Title of host publication	20th Design Automation Conference
Subtitle of host publication	Volume 1 - Dynamic Mechanical Systems; Geometric Modeling and Features; Concurrent Engineering
Publisher	American Society of Mechanical Engineers (ASME)
Pages	35-44
Number of pages	10
ISBN (Electronic)	9780791897676
DOIs	https://doi.org/10.1115/DETC1994-0045
Publication status	Published - 1994
Event	ASME 1994 Design Technical Conferences, DETC 1994, collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium - Minneapolis, United States Duration: 11 Sept 1994 → 14 Sept 1994

Publication series

Name	Proceedings of the ASME Design Engineering Technical Conference
Volume	Part F167892-6

Conference

Conference	ASME 1994 Design Technical Conferences, DETC 1994, collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium
Country/Territory	United States
City	Minneapolis
Period	11/09/94 → 14/09/94

Bibliographical note

Publisher Copyright:
© 1994 American Society of Mechanical Engineers (ASME). All rights reserved.

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10.1115/DETC1994-0045

Cite this

Choi, J. H., Shabana, A. A., & Wehage, R. A. (1994). Propagation of nonlinearities in the inertia matrix of tracked vehicles. In 20th Design Automation Conference: Volume 1 - Dynamic Mechanical Systems; Geometric Modeling and Features; Concurrent Engineering (pp. 35-44). (Proceedings of the ASME Design Engineering Technical Conference; Vol. Part F167892-6). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC1994-0045

Choi, J. H. ; Shabana, A. A. ; Wehage, Roger A. / Propagation of nonlinearities in the inertia matrix of tracked vehicles. 20th Design Automation Conference: Volume 1 - Dynamic Mechanical Systems; Geometric Modeling and Features; Concurrent Engineering. American Society of Mechanical Engineers (ASME), 1994. pp. 35-44 (Proceedings of the ASME Design Engineering Technical Conference).

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title = "Propagation of nonlinearities in the inertia matrix of tracked vehicles",

abstract = "In this investigation, a procedure is presented for the numerical solution of tracked vehicle dynamics equations of motion. Tracked vehicles can be represented as two kinematically decoupled subsystems. The first is the chassis subsystem which consists of chassis, rollers, idlers, and sprockets. The second is the track subsystem which consists of track links interconnected by revolute joints. While there is dynamic force coupling between these two subsystems, there is no inertia coupling since the kinematic equations of the two subsystems are not coupled. The objective of the procedure developed in this investigation is to take advantage of the fact that in many applications, the shape of the track does not significantly change even though the track links undergo significant configurations changes. In such cases the nonlinearities propagate along the diagonals of a velocity influence coefficient matrix. This matrix is the only source of nonlinearities in the generalized inertia matrix. A permutation matrix is introduced to minimize the number of generalized inertia matrix LU factor evaluations for the track.",

author = "Choi, \{J. H.\} and Shabana, \{A. A.\} and Wehage, \{Roger A.\}",

note = "Publisher Copyright: {\textcopyright} 1994 American Society of Mechanical Engineers (ASME). All rights reserved.; ASME 1994 Design Technical Conferences, DETC 1994, collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium ; Conference date: 11-09-1994 Through 14-09-1994",

year = "1994",

doi = "10.1115/DETC1994-0045",

language = "English",

series = "Proceedings of the ASME Design Engineering Technical Conference",

publisher = "American Society of Mechanical Engineers (ASME)",

pages = "35--44",

booktitle = "20th Design Automation Conference",

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Choi, JH, Shabana, AA & Wehage, RA 1994, Propagation of nonlinearities in the inertia matrix of tracked vehicles. in 20th Design Automation Conference: Volume 1 - Dynamic Mechanical Systems; Geometric Modeling and Features; Concurrent Engineering. Proceedings of the ASME Design Engineering Technical Conference, vol. Part F167892-6, American Society of Mechanical Engineers (ASME), pp. 35-44, ASME 1994 Design Technical Conferences, DETC 1994, collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium, Minneapolis, United States, 11/09/94. https://doi.org/10.1115/DETC1994-0045

Propagation of nonlinearities in the inertia matrix of tracked vehicles. / Choi, J. H.; Shabana, A. A.; Wehage, Roger A.
20th Design Automation Conference: Volume 1 - Dynamic Mechanical Systems; Geometric Modeling and Features; Concurrent Engineering. American Society of Mechanical Engineers (ASME), 1994. p. 35-44 (Proceedings of the ASME Design Engineering Technical Conference; Vol. Part F167892-6).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Choi, J. H.

AU - Shabana, A. A.

AU - Wehage, Roger A.

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N2 - In this investigation, a procedure is presented for the numerical solution of tracked vehicle dynamics equations of motion. Tracked vehicles can be represented as two kinematically decoupled subsystems. The first is the chassis subsystem which consists of chassis, rollers, idlers, and sprockets. The second is the track subsystem which consists of track links interconnected by revolute joints. While there is dynamic force coupling between these two subsystems, there is no inertia coupling since the kinematic equations of the two subsystems are not coupled. The objective of the procedure developed in this investigation is to take advantage of the fact that in many applications, the shape of the track does not significantly change even though the track links undergo significant configurations changes. In such cases the nonlinearities propagate along the diagonals of a velocity influence coefficient matrix. This matrix is the only source of nonlinearities in the generalized inertia matrix. A permutation matrix is introduced to minimize the number of generalized inertia matrix LU factor evaluations for the track.

AB - In this investigation, a procedure is presented for the numerical solution of tracked vehicle dynamics equations of motion. Tracked vehicles can be represented as two kinematically decoupled subsystems. The first is the chassis subsystem which consists of chassis, rollers, idlers, and sprockets. The second is the track subsystem which consists of track links interconnected by revolute joints. While there is dynamic force coupling between these two subsystems, there is no inertia coupling since the kinematic equations of the two subsystems are not coupled. The objective of the procedure developed in this investigation is to take advantage of the fact that in many applications, the shape of the track does not significantly change even though the track links undergo significant configurations changes. In such cases the nonlinearities propagate along the diagonals of a velocity influence coefficient matrix. This matrix is the only source of nonlinearities in the generalized inertia matrix. A permutation matrix is introduced to minimize the number of generalized inertia matrix LU factor evaluations for the track.

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Choi JH, Shabana AA, Wehage RA. Propagation of nonlinearities in the inertia matrix of tracked vehicles. In 20th Design Automation Conference: Volume 1 - Dynamic Mechanical Systems; Geometric Modeling and Features; Concurrent Engineering. American Society of Mechanical Engineers (ASME). 1994. p. 35-44. (Proceedings of the ASME Design Engineering Technical Conference). doi: 10.1115/DETC1994-0045

Propagation of nonlinearities in the inertia matrix of tracked vehicles

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