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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
Track Systems – Characteristic
• 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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Track Systems – Characteristic
• 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 – Characteristic
• 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
Tracks for Chrono::Vehicle – Concept
• 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
Tracks for Chrono::Vehicle – Concept
• 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
te J
oin
t
TensionsystemSlider/Arm
Re
volu
te
Join
t
Rev
olu
te J
oin
t
Rev
olu
te J
oin
t Re
volu
te/
Tra
nla
tio
nal
Jo
int
Ten
sio
nFo
rce
/To
rqu
e
TensionsystemSlider/Arm
Re
volu
te
Join
t
Re
volu
te/
Tra
nla
tio
nal
Jo
int
Ten
sio
nFo
rce
/To
rqu
e
Co
nta
ctE
nd
Sto
p
Rev
olu
te J
oin
t
Tracks for Chrono::Vehicle – Concept
• 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)
Tracks for Chrono::Vehicle – Concept
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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
rce
/To
rqu
e
Co
nta
ctE
nd
Sto
pRoad Wheel/
Idler
Running Gear Right/Left
Tracks for Chrono::Vehicle – Concept
• 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
Tracks for Chrono::Vehicle – Concept
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• Road wheels
• Idler
• Support Roller
Tracks for Chrono::Vehicle – Concept
• 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
Tracks for Chrono::Vehicle – Concept
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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
Tracks for Chrono::Vehicle – Concept
• 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
Tracks for Chrono::Vehicle – Concept
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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
Tracks for Chrono::Vehicle – Concept
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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
Tracks for Chrono::Vehicle – Concept
• 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
Tracks for Chrono::Vehicle – Concept
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• 2 pin track shoes
Tracks for Chrono::Vehicle – Concept
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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
Tracks for Chrono::Vehicle - Evaluation Models
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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
Tracks for Chrono::Vehicle - Evaluation Models
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• Track systems and vehicles
• 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
Tracks for Chrono::Vehicle - Evaluation Models
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• Track systems and vehicles
• 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
Thank You!
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