Spatial Dynamics of Multibody Tracked Vehicles Part II: Contact Forces and Simulation Results

In this part of the paper, three dimensional computational capabilities, that includes significant details, are developed for the nonlinear dynamic analysis of large scale spatial tracked vehicles. Three dimensional nonlinear contact force models that describe the interaction between the track links and the vehicle components such as the rollers, sprockets, and idlers as well as the interaction between the track links and the ground are developed and used to define the generalized contact forces associated with the vehicle generalized coordinates. Tangential friction and contact forces are developed in order to maintain the stability of the track motion and avoid the slippage of the track or its rotation as a rigid body. Body and surface coordinate systems are introduced in order to define the spatial contact conditions. The nonlinear equations of motion of the tracked vehicle are solved using the velocity transformation procedure developed in the first part of this paper. This procedure is used in order to obtain a minimum set of differential equations, and avoid the use of the iterative Newton-Raphson algorithm. A computer simulation of a tracked vehicle that consists of one hundred and six bodies and has one hundred and sixteen degrees of freedom is presented in order to demonstrate the use of the formulations presented in this study.     

Spatial Dynamics of Multibody Tracked Vehicles Part I: Spatial Equations of Motion

In this paper, the nonlinear dynamic equations of motion of the three dimensional multibody tracked vehicle systems are developed, taking into consideration the degrees of freedom of the track chains. To avoid the solution of a system of differential and algebraic equations, the recursive kinematic equations of the vehicle are expressed in terms of the independent joint coordinates. In order to take advantage of sparse matrix algorithms, the independent differential equations of the three dimensional tracked vehicles are obtained using the velocity transformation method. The Newton-Euler equations of the vehicle components are defined and used to obtain a sparse matrix structure for the system dynamic equations which are represented in terms of a set of redundant coordinates and the joint forces. The acceleration solution obtained by solving this system of equations is used to define the independent joint accelerations. The use of the recursive equations eliminates the need of using the iterative Newton-Raphson algorithm currently used in the augmented multibody formulations. The numerical difficulties that result from the use of such augmented formulations in the dynamic simulations of complex tracked vehicles are demonstrated. In this investigation, the tracked vehicle system is assumed to consist of three kinematically decoupled subsystems. The first subsystem consists of the chassis, the rollers, the sprockets, and the idlers, while the second and third subsystems consist of the tracks which are modeled as closed kinematic chains that consist of rigid links connected by revolute joints. The singular configurations of the closed kinematic chains of the tracks are also avoided by using a penalty function approach that defines the constraint forces at selected secondary joints of the tracks. The kinematic relationships of the rollers, idlers, and sprockets are expressed in terms of the coordinates of the chassis and the independent joint degrees of freedom, while the kinematic equations of the track links of a track chain are expressed in terms of the coordinates of a selected base link on the chain as well as the independent joint degrees of freedom. Singularities of the transformations of the base bodies are avoided by using Euler parameters. The nonlinear three dimensional contact forces that describe the interaction between the vehicle components as well as the results of the numerical simulations are presented in the second part of this paper.     

含水率对路用水泥混凝土的影响及微波在线测湿系统

在讨论了含水率对路用土质量的影响因素后，通过对不同种类测试器的分析，确定了较为适用的微波传感器，并给出了微波传感器的输出电压与集料含水率之间的关系式，进而对测试准确度进行计算。     

轿车车身结构动力学分析

利用有限元分析的方法对轿车车身骨架结构进行了动力学分析，通过对改变车身结构情况分析计算，研究了车身结构与其固有频率和振动的关系，结果表明：对于管式骨架式轿车车身，可改变钢管外径来解决共振问题。钢管外径和壁厚对其振型改变很小。进行局部加强也可改变整个车身结构的频率，而且对减小局部大变形有较好的效果。     

无砂混凝土作反滤层的试验研究

反滤层是防止土体渗透破坏的有效措施,无砂混凝土具有良好的透水性、过滤性和稳定性.由于无砂混凝土具有自身的稳定性,用作反滤结构时不需要设置多层;还可以起到支撑作用,替代部分沟壁、井壁和挡墙等结构,可用于公路、铁路、水工建筑物中作反滤层.对无砂混凝土保护不同类型土料进行反滤试验研究,提出了无砂混凝土作反滤层的设计准则.     

机场跑道填缝胶的研究

通过制备聚硫填缝胶，并对其进行抗拉伸、耐高低温等性能测试，讨论溶剂、环氧树脂、DBP、填料、催化剂等各因素对其性能的影响，总结其最佳实验配方。     

运用车辆动态模拟装置提高东海道新干线列车的乘坐舒适性

介绍了车辆动态模拟装置在评价车辆乘坐舒适性方面的应用情况,并阐述了车辆动态模拟装置在车辆部件研发过程中的重要作用.     

排水固结法加固欠载预压断面简化计算分析

以浙江某高速公路为例,根据软基排水固结机理,采用固结度等效原理,提出了一种欠载预压断面插塑板地基的等效渗透系数计算公式,对渗透系数进行调整,将插塑板地基简化为成层均质地基,运用有限元进行建模计算,实测结果证明,等效计算公式是可行的。     

影响二灰碎石路面基层强度的因素分析

通过室内试验,着重分析了影响二灰碎石基层强度的几个主要因素,并提出在二灰碎石设计与施工时的相关建议和注意事项。     

基于声波透射法的大直径超长桩的完整性分析

介绍了超声波声参量与桩身混凝土质量的关系及其现场检测技术。通过现场检测实例,提出了桩身存在缺陷时声参量的几种特征,以及影响桩身质量判断的几种常见的客观因素。检测结果表明:超声波透射法能够相当准确地判别大直径超长桩的各类缺陷及其具体位置。