Abstract The paper presents a simple, fast, and reliable dynamic model for an off-road track vehicle operating on terrain with obstacles. The method has been proven previously for wheeled-vehicle formulation. The model is based on a discrete body dynamics (DBD) method, which leads to simplistic linear decoupled motion equations. In this method, joints and bodies with relatively small mass are replaced with stiff springs and dampers, eliminating the system’s constraints and reducing the number of system bodies; this is important for accelerating the simulation runtime of the track vehicle model. The track in this approach is based on modeling each link as a point-mass. Two consecutive links are connected by stiff springs and dampers. This approach reduces the calculation time and increases system stability. The track–soil interaction was modeled using Bekker’s and Janosi’s formulation (Bekker, 1956; Hanamoto and Janosi, 1961). Specific soil properties were obtained for each link–soil interaction from soil classification and GIS. The link–ground contact was determined from topographic surface and adjustment of the force and direction acting on the track. The results of the simulation using the DBD method were compared with Siemens' VL commercial multibody dynamics program and with experiments reported in the literature. Results using the proposed method were found to be similar to the commercial program based on published experiments. The solution runtimes obtained for unpaved soil were two orders faster with the DBD method compared with the Siemens' VL program. The model was written as an independent software infrastructure, enabling easy integration with any other software component, such as a control system. The algorithm is in a suitable form for parallel processing calculation to speed up the runtime simulation close to real-time.

中文翻译：

---

越野车的快速动态建模

摘要 本文提出了一种简单、快速、可靠的越野履带车辆在有障碍物地形上运行的动力学模型。该方法先前已被证明适用于轮式车辆配方。该模型基于离散体动力学 (DBD) 方法，可生成简单的线性解耦运动方程。该方法用刚性弹簧和阻尼器代替质量相对较小的关节和体，消除了系统的约束，减少了系统体的数量；这对于加速轨道车辆模型的仿真运行时间很重要。这种方法中的轨迹基于将每个链接建模为一个点质量。两个连续的连杆由刚性弹簧和阻尼器连接。这种方法减少了计算时间并提高了系统稳定性。使用 Bekker 和 Janosi 的公式（Bekker，1956；Hanamoto 和 Janosi，1961）模拟轨道-土壤相互作用。从土壤分类和 GIS 中获得每个环节-土壤相互作用的特定土壤特性。连杆-地面接触由地形表面和作用在轨道上的力和方向的调整确定。使用 DBD 方法的模拟结果与西门子的 VL 商业多体动力学程序和文献中报道的实验进行了比较。发现使用所提出方法的结果与基于已发表实验的商业程序相似。与西门子的 VL 程序相比，DBD 方法获得的未铺砌土壤的求解运行时间快了两个数量级。该模型被编写为一个独立的软件基础设施，能够与任何其他软件组件（例如控制系统）轻松集成。该算法采用适合并行处理计算的形式，以接近实时地加速运行时模拟。