Dynamic Motion Resistance for Tracked Vehicle

Based on previous achievements, a dynamic pressure-sinkage equation for saturated clay is established. First, a quasi-static penetration rate is selected, and the ratio of the dynamic penetration rate to the quasi-static rate is used to characterize the degree of dynamic effect, then the βth power of the ratio is used to quantify the dynamic effect of sinkage. The dynamic effect exponent β is obtained using penetration tests with different penetration rates. Then, a dynamic motion resistance equation for a tracked vehicle is established based on the dynamic pressure-sinkage equation. The equation incorporates both penetration and bulldozing resistance.Finally, a series of simulation experiments with varying travel speeds and slip rates is carried out. The results show that an increase in the speed leads to stronger terrain stiffness, resulting in a decrease in sinkage and motion resistance.However, the enhancement effect becomes weaker with an increase in the travel speed.