In this study, the effect of change in height of a so-called variable configuration of a continuous tracked bogie system on ride comfort performance is investigated. To this end, constraint equations among different vehicle parts are derived recursively, and equations of motion are formulated according to the Newton–Euler equations using the embedding technique. Besides, to model the track as a closed-loop chain, the penalty method has been used instead of loop-closure equations. To mathematically model the contact between tracks, wheels, and the terrain, the continuous contact force model has been employed. To validate the mathematical model, the vehicle dynamic behavior is simulated by the Runge–Kutta method in MATLAB software and compared with those obtained from the identical model, built in RecurDyn software, and the results show good agreement. Moreover, the vibrational behavior of the tracked vehicle is investigated using two different vehicle configurations. This reveals that an increase in vehicle height does not change the vehicle vibrational frequencies. However, it increases the vehicle vibration amplitude and the energy absorbed by the vehicle components and decreases the ride comfort.

中文翻译：

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变配置连续履带转向架系统平顺性分析

在这项研究中，研究了连续履带转向架系统的所谓可变配置的高度变化对乘坐舒适性性能的影响。为此，递归地推导出不同车辆部件之间的约束方程，并使用嵌入技术根据牛顿-欧拉方程制定运动方程。此外，为了将轨道建模为闭环链，使用惩罚方法代替闭环方程。为了对履带、车轮和地形之间的接触进行数学建模，采用了连续接触力模型。为了验证数学模型，通过MATLAB软件中的Runge-Kutta方法对车辆动态行为进行了模拟，并与从RecurDyn软件中构建的相同模型获得的模型进行了比较，结果显示出良好的一致性。此外，使用两种不同的车辆配置来研究履带车辆的振动行为。这表明车辆高度的增加不会改变车辆的振动频率。然而，它增加了车辆的振动幅度和车辆部件吸收的能量，降低了乘坐舒适性。