Dynamic modeling and analysis of 6x6 skid steered military vehicle with articulated double-acting hydro-pneumatic suspension system

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2022-12-12

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Türedi, Derin

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Vehicle simulation is an essential step for the evaluation of control algorithms on vehicles. In this respect, there are various approaches in the literature such as quarter car, half car and full car. Most of these studies have been conducted for specific use cases, for instance examining only vertical behavior of the vehicle by ignoring its longitudinal and lateral dynamics. In addition to the conventional methods, there are simulation environments which analyze the characteristic of the vehicle dynamics. However, these simulations are restricted to traditional vehicles such as passenger cars and trucks. For more complex multi axle and robot-like vehicles, models that are created based on conventional Newtonian mechanics still play an important role for the analysis of the vehicle behavior. Main objective of this study is to develop a full car model for a tactical wheel 6x6 skid steered military vehicle with an articulated hydro-pneumatic suspension system on MATLAB/Simulink environment, in order to analyze vehicle behavior on different road conditions and traction inputs. In addition to the created model, to be viable verify its accuracy, MSC. ADAMS software is used to simulate the same vehicle. Unlike the conventional vehicle structure, skid steering mechanism, robotic articulated suspension mechanism, hydro-pneumatic suspension system, and multi axle load distribution subjects are considered as the fundamental differences. In order to make coherent simulation comparisons, flat road, sinusoidal bump, road with constant irregularities, and ramp with constant slope are considered on the model as road profiles. Also, to analyze the performance of the suspension system, different road profiles are supplied to the counter tires simultaneously. Furthermore, different torque inputs are fed to the system to observe the lateral dynamics of the vehicle.

Subject Keywords

Dynamic modeling, Vehicle dynamics, Skid steering, Hydro-pneumatic suspension

URI

https://hdl.handle.net/11511/101857

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Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

D. Türedi, “Dynamic modeling and analysis of 6x6 skid steered military vehicle with articulated double-acting hydro-pneumatic suspension system,” M.S. - Master of Science, Middle East Technical University, 2022.