Mathematical model of the movement of a tracked train for off-road container transportation

Abstract

To determine the indicators of the mobility properties of unmanned tracked trains and the formation of traffic control laws, it is advisable to use mathematical simulation. On the example of a tracked semitrailer train, a mathematical model is being developed. It consists of a large number of rigid bodies connected by kinematic and power connections; therefore, it is proposed to use software systems that make it possible to synthesize a system of equations for the dynamics of a tracked train in an automated mode. The article discusses general approaches to the formation of such systems of equations in modern software packages for automated analysis of the dynamics of body systems. There are given a structural diagram of the developed mathematical model of a tracked train and a description of its main structural elements (blocks), which are responsible for the operation of various systems: a power plant, transmission and running system.

The features of the interaction of active sections of a caterpillar propeller with a low-deformable support base of the “dense soil” type are considered. On the example of the maneuver “turn with a given radius”, an imitation mathematical modeling of the movement of a caterpillar train was carried out, and on the basis of an analysis of the results obtained, the operability of the developed mathematical model was confirmed. The developed mathematical model of the movement of a tracked semitrailer train makes it possible to study its movement in space, taking into account the mutual influence of the tractor and the semitrailer, taking into account the interaction of the active sections of the tracked propeller with the sup-port base and taking into account the modeling of the working processes of its systems.

Based on the study, it can be concluded that the use of the method of computer modeling of the dynamics of body systems is an effective tool for predicting the performance indicators of tracked trains, determining the laws of traffic control, and also for assessing energy efficiency when performing virtual maneuvers. The developed mathematical model of the dynamics of a tracked train allows a wide range of studies to assess the mobility of tracked trains of various design and layout.

Keywords

tracked train / caterpillar propulsion / unmanned vehicles / container transportation / mathematical model / mathematical simulation / dynamics of a system of solids

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Yevseyev K.B.