US Army TARDEC Ground Vehicle Mobility: Dynamics Modeling, Simulation, & Research
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1 US Army TARDEC Ground Vehicle Mobility: Dynamics Modeling, Simulation, & Research P. JPL 24 Oct 2011 : Distribution Statement A. Approved for public release
2 Report Documentation Page Form Approved OMB No Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. 1. REPORT DATE 03 NOV REPORT TYPE Briefing Charts 3. DATES COVERED to TITLE AND SUBTITLE US ARMY TARDEC GROUND VEHICLE MOBILITY: DYNAMICS MODELING, SIMULATION, AND RESEARCH 6. AUTHOR(S) Paramsothy Jayakumar 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) U.S. Army TARDEC,6501 E.11 Mile Rd,Warren,MI, SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) U.S. Army TARDEC, 6501 E.11 Mile Rd, Warren, MI, PERFORMING ORGANIZATION REPORT NUMBER # SPONSOR/MONITOR S ACRONYM(S) TARDEC 11. SPONSOR/MONITOR S REPORT NUMBER(S) # DISTRIBUTION/AVAILABILITY STATEMENT Approved for public release; distribution unlimited 13. SUPPLEMENTARY NOTES NASA Jet Propulsion Laboratory, mobility, and robotics section. Briefing to the jet propulsion lab. 14. ABSTRACT N/A 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT a. REPORT unclassified b. ABSTRACT unclassified c. THIS PAGE unclassified Same as Report (SAR) 18. NUMBER OF PAGES 21 19a. NAME OF RESPONSIBLE PERSON Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18
3 TARDEC Modeling, Simulation, & Analysis System Level Analysis Mobility / Automotive Performance Analysis Blast / Crash / Ballistic Analysis MRAP Example l Thermal / Signature / Aerodynamic Analysis D Durability / Reliability Analysis i~.._fl - - r I ~!I (.' I...=....=. - - High Performance.ormance Computing t ::J Infrastructure TECHNOLOGY DRIVEN. WARFIGHTER FOCUSED.
4 What We Do Life Cycle Modeling & Simulation Support Acquisition Support Construct Virtual Technology Demonstrators Develop automotive performance requirements Write M&S content of the Request For Proposal Participate in the Source Selection Evaluation Board Field System Support Configuration changes Waiver requests Safe Use Range of Operation Field failures Research Internal and External
5 Platforms Supported ASV MRAP FMTV FTTS GCV JLTV HMMWV M2 M915 Small Robot APD
6 Mobility Events Vehicle stability Ride quality Durability Steerability Obstacle maneuverability Design sensitivities Multi-Body Vehicle Dynamics
7 Side Slope Stability l w~ J TiltT able-standard.wmv TECHNOLOGY DRIVEN. WARFIGHTER FOCUSED.
![3 B7 ~ B!> <l J.!JM -{>c;] -----t;><) -- =M 1><1 Lc~ +-:2:-4M l><l--.16 M I> SeeD.](/docs-images/87/95060951/images/8-2.jpg "1 Soctilta-4 ~---3 SecU.a 5 A ll \V1.dth. dunenmo n~; 1fll'ler cone e t.o.nn.e.- cone e d ' TECHNOLOGY DRIVEN.")
8 NATO Double Lane Change Stability tan16700:1-frontview.wmv A 4 A5 A6 y l.:2:... WUI ilo +- 0.::2:5 M A l A 3 ~ 1.1 x W i i!lt JL + U.25 M R4.., f I'J.A8 A9 "".:t.!l M f k_ J. L l '-YillU.. -+ O..:!e M B l B 2 B.3 B7 ~ B!> <l J.!JM -{>c;] -----t;><) -- =M 1><1 Lc~ +-:2:-4M l><l--.16 M I> SeeD. 1 Soctilta-4 ~---3 SecU.a 5 A ll \V1.dth. dunenmo n~; 1fll'ler cone e t.o.nn.e.- cone e d ' TECHNOLOGY DRIVEN. WARFIGHTER FOCUSED.
9 Durability ah32big.wmv TECHNOLOGY DRIVEN. WARFIGHTER FOCUSED.
10 Durability FE-Based Vehicle Dynamics OPSEC_SegmentedTrack.avi TECHNOLOGY DRIVEN. WARFIGHTER FOCUSED.
11 Braking Distance l w~ J Brake-LSAC -40m ph. wmv TECHNOLOGY DRIVEN. WARFIGHTER FOCUSED.
12 Trench Crossing Click on the image TECHNOLOGY DRIVEN. WARFIGHTER FOCUSED.
13 Water/Fuel Transport Fluid-Structure Interaction OPSEC_ T ankert ruck_lanechange.avi TECHNOLOGY DRIVEN. WARFIGHTER FOCUSED.
14 Robotic Vehicle Step Climbing Stair Climbing of a Small Robot
15 t t di x p1 i x p2 i Finite-Element vs. MBD Solution Joint Force Comparison
16 t t di x p1 i x p2 i Finite-Element vs. MBD Solution Manipulator Force Comparison Base_ForceX_FE Base_ForceX_MBD Base Force X (N) Time (sec.) 1500 Base Force Y (N) BaseForceY_FE BaseForceY_MBD Time (sec.)
17 Parallel Processing on GPU M113 Click on the image
18 Nonlinear Structure within MBD ANCF Finite Elements Tracked Vehicle Click on the image T Mrr Mrf 0 0 Cqr Q r r T M M 0 0 C q q f Q fr ff f f aa T s C q Cq C λ Q q Cs 0 c 0 0 M 0 C C r f a T q a q q a Q a s 0 Integrates rigid motion (r) flexible deformation (f) very flexible deformation (a)
19 Small Robot Terramechanics TECHNOLOGY DRIVEN. WARFIGHTER FOCUSED.
20 Integration of Autonomy into MBD \ / I l.-- TECHNOLOGY DRIVEN. WARFIGHTER FOCUSED.
![Integration of Autonomy into MBD Z-Position [m] 2 0-2 -4-6 -8 Path from Overhead Trajectory](/docs-images/87/95060951/images/21-0.jpg "differences High Fidelity Simplified Predefined Unobstructed -10 Predefined path -12 12 14 16")
![18 20 22 24 26 X-Position [m] Motor Torque 60 40 Motor torque differences Left Torque [N-m]](/docs-images/87/95060951/images/21-1.jpg "20 0-20 Autonomous operation High Fidelity -40 Simplified Predefined -60 0 5 10 15 20 25 Time")
21 Integration of Autonomy into MBD Z-Position [m] Path from Overhead Trajectory differences High Fidelity Simplified Predefined Unobstructed -10 Predefined path X-Position [m] Motor Torque Motor torque differences Left Torque [N-m] Autonomous operation High Fidelity -40 Simplified Predefined Time [s]
22 Off-Road Soft-Soil Tire Model TECHNOLOGY DRIVEN. WARFIGHTER FOCUSED.
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