This article summarizes the known methods for calculating the internal resistance of tracked undercarriages. The values of the coefficient of internal resistance for sample tracked vehicles are available in the literature and presented in this paper. Although they are suitable for simple computations, they cannot be used to optimize the energy efficiency of new generation tracked undercarriages. This problem might be solved by the models where every phenomenon leading to energy dissipation during vehicle motion is described by a separate submodel as a function of vehicle speed, track tension, undercarriage layout, design features of the undercarriage components, etc. This kind of model is still missing for vehicles with conventional rubber tracks. The article presents multiple state-of-the-art models describing rolling resistance of road wheels, bending resistance of rubber belts, etc., including the models of belt conveyors resistance. A vast majority of the phenomena discussed herein are described by several incompatible models whose parameters have not yet been determined for conventional rubber tracks. Consequently, in the second and the third part of the article, the authors have undertaken a theoretical and experimental studies on the methods for calculating and optimizing the internal motion resistance of vehicles with conventional rubber tracks.

本文总结了计算履带式起落架内阻的已知方法。样品履带车辆的内阻系数值可在文献中获得，并在本文中给出。虽然它们适用于简单的计算，但它们不能用于优化新一代履带式起落架的能源效率。这个问题可以通过模型来解决，其中每个导致车辆运动过程中能量耗散的现象都由单独的子模型描述为车辆速度、履带张力、底盘布局、底盘部件的设计特征等的函数。 这种模型对于带有传统橡胶履带的车辆，仍然缺少这种功能。本文介绍了多个描述负重轮滚动阻力的最先进模型，橡胶带的弯曲阻力等，包括带式输送机阻力的型号。这里讨论的绝大多数现象是由几个不兼容的模型描述的，这些模型的参数尚未确定用于传统橡胶履带。因此，在文章的第二和第三部分，作者对传统橡胶履带车辆内部运动阻力的计算和优化方法进行了理论和实验研究。