Theoretical Model of High-Speed Tracked Vehicle General Motion

This paper presents a systematically derived theoretical model for the motion of tracked vehicles, encompassing various scenarios such as soft terrain and slopes. The model considers all the resistances encountered by tracked vehicles, including track-terrain interaction, grade and air resistance, centrifugal force, inertial forces, and turning resistance. The heading angle determines the geometrical orientation of the vehicle on the slope. A MATLAB model of tracked vehicle general motion was established based on theoretical discussions. The paper discusses the steering performance of tracked vehicles on slopes of different inclinations. A simulation of steering with different turning radiuses was also presented. It is shown that the proposed model can be used for predicting and evaluating the steering performance of tracked vehicles with adequate accuracy. Furthermore, due to its high computational efficiency, the proposed model can be utilized for power demand modeling in research on the hybridization or electrification of tracked vehicles.