System-level modeling and real-time simulation for hybrid tracked vehicle

The real-time model of tracked vehicle dynamics was built based on the object-oriented methodology. The model of electric coupling between engine-generator and battery pack was put forward. Moreover, the model of hybrid power train and its control strategy was established and, on the basis of RT-LAB environment, it could be transformed to a real-time executable model. Through CAN interface, the communication between the vehicle dynamics model and hybrid power train and its control model could be realized in real time. All were integrated as the driver-in-loop system-level real-time simulation environment for the hybrid tracked vehicles. Simulation results have demonstrated the feasibility and effectiveness of the work presented in this article.