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 β th 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.