Mobility of Military Vehicles at TARDEC

Transcription

1 Mobiliy of Miliary Vehicles a TARDEC Amandeep Singh, Ph.D., P.E. May 15, 212 amandeep.singh2.civ@mail.mil Presened a SAE Heavy Truck Handling, Dynamics, & Conrol Symposium, Greenville, SC, May UNCLASSIFIED: Disribuion FOR OFFICIAL Saemen USE ONLY A. Approved for public release. 1

2 Repor Documenaion Page Form Approved OMB No Public reporing burden for he collecion of informaion is esimaed o average 1 hour per response, including he ime for reviewing insrucions, searching exising daa sources, gahering and mainaining he daa needed, and compleing and reviewing he collecion of informaion. Send commens regarding his burden esimae or any oher aspec of his collecion of informaion, including suggesions for reducing his burden, o Washingon Headquarers Services, Direcorae for Informaion Operaions and Repors, 1215 Jefferson Davis Highway, Suie 124, Arlingon VA Respondens should be aware ha nowihsanding any oher provision of law, no person shall be subjec o a penaly for failing o comply wih a collecion of informaion if i does no display a currenly valid OMB conrol number. 1. REPORT DATE 15 MAY REPORT TYPE Briefing Chars 3. DATES COVERED o TITLE AND SUBTITLE Mobiliy of Miliary Vehicles a TARDEC 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Amandeep Sing 5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) U.S. Army TARDEC,651 Eas Eleven Mile Rd,Warren,Mi, SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) U.S. Army TARDEC, 651 Eas Eleven 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; disribuion unlimied 13. SUPPLEMENTARY NOTES Presen a SAE Heavy Truck Handling, Dynamics, & Conrol Symposium, Greenville, SC May ABSTRACT -Hisory and Background -Modeling and Simulaion a TARDEC -Curren Research Effors -Fuure Growh and Trends 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF a. REPORT unclassified b. ABSTRACT unclassified c. THIS PAGE unclassified ABSTRACT Public Release 18. NUMBER OF PAGES 38 19a. NAME OF RESPONSIBLE PERSON Sandard Form 298 (Rev. 8-98) Prescribed by ANSI Sd Z39-18

3 UNCLASSIFIED 2 Disclaimer Reference herein o any specific commercial company, produc, process, or services by rade name, rademark, manufacurer, or oherwise, does no necessarily consiue or imply is endorsemen, recommendaion, or favoring by he Unied Saes Governmen or he Deparmen of he Army (DoA). The opinions of he auhor expressed herein do no necessarily sae or reflec hose of he Unied Saes Governmen or he DoA, and shall no be used for adverising or produc endorsemen purposes

4 UNCLASSIFIED 3 Agenda Hisory and Background Modeling and Simulaion a TARDEC Curren Research Effors Fuure Growh and Trends

5 Hisorical UNCLASSIFIED 4 Dr. Gregory Bekker Considered by many o be he founder of Terra-mechanics as an engineering discipline. Worked a he Army Vehicle Lab (now TARDEC) lae 195 s and early 196 s.. The Army Mobiliy Model (NRMM) was co-developed in he 196 s by TARDEC and Waerways Experimen Saion (now ERDEC). Absorbed Power Crieria Developed in he 196 s a TARDEC by Pradko & Lee. Dynamic Analysis and Design Sysem (DADS) Developed a U of Iowa for TARDEC in he 198 s, now commercial.

6 Ride and Shock Qualiy Research DITIOIT AUINAL NIO. NO. C - ~ 82 1 DATE I Feb 6Z Oynunlc Slmull\lon l..&botaory Dnver111 s~... ~ Ac:.Qn 'l'e!s. TECHNOLDGY DRNEN. WARRGHTER FOOJSED. UNCLASSIFIED 5

7 Analog Compuer Used o Compue Absorbed Power o Quanify Ride Qualiy TECHNOLDGY DRNEN. WARRGHTER FOOJSED. UNCLASSIFIED 6

8 Asronau Lunar Rover Training Dae Unknown TECHNOLDGY DRNEN. WARRGHTER FOOJSED. UNCLASSIFIED 7

9 UNCLASSIFIED 8 Pre-DADS Formulaion of Coupled M113s 1977 S23 $13 Sll 52 sl

10 Pre-DADS Animaions of Coupled M113s '.. 7 U TECHNOLDGY DRNEN. WARRGHTER FOOJSED. UNCLASSIFIED 9

11 Pre-DADS Simulaions TECHNOLDGY DRNEN. WARRGHTER FOOJSED. UNCLASSIFIED 1

12 HEMTT-HEMAT Ca TECHNOLDGY DRNEN. WARRGHTER FOOJSED. UNCLASSIFIED 11

13 Conceps C A SS I Fuure Force Conceps / Analysis / Sysem Simulaion / Inegraion (CASSI) Sysem-cenric, M&S-based Services o inegrae and assess he impacs of new conceps/echnologies and upgrades o exising sysems. Analyics Thermal / CFD Hardware & Man-In- The-Loop Simulaion Inegraion & Demonsraors JRaDS Crew Safey Characerizaion Durabiliy TWVS MRAP Srucures/Durabiliy Turre Tesing Human Dimension FED CAV JLTV FTTS Blas HPC & Daa Managemen Dynamics Virual Environmens HPC CAVE Virual Design Reviews Key Parnerships wih TARDEC Technology Groups, oher Army RDECs/Labs, PM s, 3 May 212 TRADOC MCOE, TACOM Sys & Cos Analysis, ATEC 12 UNCLASSIFIED 12

14 Acquisiion and Life Cycle M&S Suppor (CASSI A Analyics-Dynamics and Srucures) UNCLASSIFIED 13 Vehicle Dynamics Ride and Shock Qualiy Laeral Sabiliy Handling (overseer / underseer) Braking Rollover Sof-soil Mobiliy Suspension/vehicle Loads Srucural Analysis Reliabiliy Modeling and Analysis Failure analysis Durabiliy degradaion Technology Inserion Semi acive/acive suspensions Weigh growh issues Ohers (suspension upgrades, ec) Research and Developmen Operaional uncerainies and Reliabiliy Acceleraed Tesing Rollover Track, Tire and Terrain Modeling ec.

15 UNCLASSIFIED 14 CASSI SS Sysem Simulaion Physical Simulaion Turre Moion Base Simulaor Ground Vehicle Simulaion Laboraory Vehicle Characerizaion Sysem Durabiliy Sudies Performance Validaion Sysem Shakedown Tesing Man-In-he-Loop Tesing Ride Moion Simulaor Disribued Simulaion

16 TARDEC s Suspension Characerizaion Machine UNCLASSIFIED 15 Suspension verical siffness Toe vs. verical ravel Camber vs. verical ravel Roll Cener Heigh Overall Seering Raio Wheel X,Y,Z moion wr. ravel Machine Specs: Vehicle Weigh Capaciy: up o 1, lbs Suspension Travel: Up o 24 in (oal) Maximum Compressive Force: 6, lbs per axle. Track widh: up o 11 in. Vehicle widh up o 15 inches. Wheel base up o 325 inches. Vehicle lengh up o 6 inches.

17 Major Programs Suppored HMMWV FoV FMTV FoV Armor Effecs on Performance JLTV - SSEB, AoA, TD Phase Performance Assessmens GCV Concep Analysis, Power Pack Sizing, Req Definiion, CDD Suppor XM1124 HE HMMWV - Hybrid Elecric Vehicle Evaluaion and Assessmen HEMTT Armor Effecs on Performance M915/NGLH Armor Effecs on Performance Abrams AGT 15 Tesing, AoA MRAPs SSEB, Tech Inserion, Armor/Power Effecs on Performance Bradley AoA, Upgrade Assessmen Sryker Belly Armor/Power Effecs on Performance Paladin PIM Analysis UNCLASSIFIED 16

18 UNCLASSIFIED 17 Major Programs Suppored (Con d) Join Recovery and Disribuion Sysem (JRaDS) Join Capabiliy Technology Demonsraion (JCTD) Program Armored Securiy Vehicle (ASV) MRAP All Terrain Vehicle (M-ATV) Expanded Capaciy Vehicle (ECV) Join Explosive Ordnance Disposal Rapid Response Vehicle (JERRV) Fuure Tacical Truck Sysem (FTTS)

19 Mobiliy Requiremens in Miliary Vehicles UNCLASSIFIED 18 Convenionally, ied o operaional performance: Ride Qualiy: 6W Absorbed Power, Half-round Bumps NATO Lane Change Turning Radius Laeral Acceleraion Capabiliy in a Seady Sae Turn Sof Soil Mobiliy, Vehicle Cone Index Til Table Open Research Ideas: Requiremens based on operaional uncerainies Off-road rollover ESC performance under on-road and off-road condiions New sof-soil mobiliy merics Seering feel for faigue, driving confidence

20 Curren Research Effor Examples UNCLASSIFIED 19 Invesigaing sae of he ar acive suspension echnologies (such as MR damper) using driving simulaors Developing acive/semi-acive suspension for off-road rollover miigaion and ride qualiy. Considering probabilisic approach for operaional uncerainies, reliabiliy, and lifecycle cos. Developing acceleraed esing echniques o improve reliabiliy and mobiliy. Uilizing muli-disciplinary approach o maximize survivabiliy while meeing land mobiliy requiremens (and waer mobiliy for amphibious). Terrain, rack, and ire modeling, ec.

21 Verical Acceleraion (g s) UNCLASSIFIED 2 Man-in-he-Loop Simulaion Example Examine he effeciveness of MR dampers agains passive dampers on a Sryker Vehicle Verical Acceleraion Belgian Block Belgian Block Heigh Field Time (1 seconds) Tes Daa Sim Daa Munson Gravel

22 Roll Rae (deg/s) Verical Acceleraion (g s) UNCLASSIFIED 21 Model Validaion Driver in he loop Max laeral acceleraion on skidpad.4g max laeral acceleraion a 4 mph NATO lane change Roll Rae Ride on simulaed Belgian Block course Verical Acceleraion Time (1 seconds) Tes Daa Sim Daa Verical Acceleraion Belgian Block Tes Daa Sim Daa Time (1 seconds)

23 UNCLASSIFIED 22 NURBS & Heigh Field Modeling Challenges Suspension performance requires enough resoluion o capure suspension modes Very dense errain degrades real-ime performance NURBS Used he Munson Gravel courses based on RMS values of Munson Gravel. Heigh Field Uses exure and RMS of Belgian Block creaed from phoographs of Belgian Block Course Driven and reworked o produce represenaive response based on es daa. Belgian Block Heigh Field Belgian Block Visual Texure Munson Gravel NURBS Munson Gravel Visual Texure

24 UNCLASSIFIED 23 Demonsraed Benefis: Lower Verical Acceleraion Reduced absorbed power Ride Demonsraion Resuls Sample Verical Acceleraion Improved subjecive experience Sample Absorbed Power

25 Road Heigh, in Operaional Uncerainies (Ride Example) Verical Acceleraion in G, S(d,X,) UNCLASSIFIED 24 Random Variables Verical Accel. (G) Time Longiudinal Disance, f Terrain Sochasic Inpu Sochasic Oupu Requires Probabilisic Approach

26 Road Heigh, in Verical Acceleraion in G, S(d,X,) Quarer-Car Model on Sochasic Terrain Consan design parameers: ms =1 kg mu =1 kg Vehicle speed = 2 mph Random Inpu variables 2 Damping, b s ~ N(7,14 ) Siffness, ~ N(41,(41 ) ) k s Random Inpu Process: Experimenal Sochasic Terrain from Yuma Proving Grounds ks k u() ms mu Random Oupu Process (Verical Acceleraion, G ) bs b xs xu Threshold = 2G Longiudinal Disance, f Time UNCLASSIFIED 25

27 Sample Auocorrelaion Quarer-Car Model: Road Inpu Random Process Characerizaion Sample Auocorrelaion UNCLASSIFIED 26 AR(3) model was idenified based on: Auocorrelaion Funcion Auocorrelaion of Residual process 1 Sample Auocorrelaion Funcion (ACF) Sample Auocorrelaion Funcion (ACF) u i Lag u.2976 u Lag.1954 (, i1 i2 i3 i u ) Saisical ess were performed o verify he model

28 Road Heigh, in Verical Acceleraion in G, S(d,X,) UNCLASSIFIED 27 Observaions Accel. (G) Longiudinal Disance, f Terrain Time Saionary inpu random process + Linear sysem Saionary oupu random process Consan (ime-independen) failure rae

29 Road Heigh, in Failure Rae Verical Acceleraion in G, S(d,X,) UNCLASSIFIED 28 Observaions Random Variables Accel. (G) Longiudinal Disance, f Time Terrain Time-dependen failure rae.2.15 MCS 5, samp IS 1, samp Time, sec

30 UNCLASSIFIED 29 Problem Descripion/Approach Vehicle speed : 2 mph; Mission disance : 1 miles Simulaion can be pracically performed for a shorduraion ime A novel MC-based mehod o calculae failure rae based on : Shor-duraion daa and an exponenial exrapolaion using MCS or Imporance Sampling or Subse Simulaion (Infan Moraliy) Poisson s assumpion (Useful Life)

31 UNCLASSIFIED 3 b e ) ( ˆ ˆ 1 d d b MCS Exponenial Exrapolaion Poisson s Assumpion in Efficien MC Simulaion Approach ], [, )) ( (1 1 ] [,, 1 ) ( in ) ( in in ˆ in f c T d c T e F e F m

32 Principle of Imporance Sampling: Random Variable Case UNCLASSIFIED 31 x1 g1(x1,x2)= Feasible Region g2(x1,x2)= Increased Performance n f Reliable Opimum f(x1,x2) conours x2

33 UNCLASSIFIED 32 ) ; ( ) ; ( ), ( i i i f f S x x x X X : Likelihood raio a i S i1 N 1 : Safe sample poins i a f i N 1 i i : Number of failures in ) ( ), ( lim ) ( 1 1 i S N n i i N i f x Imporance Sampling for Random Process where:

34 Road Heigh, in Verical Acceleraion in G, S(d,X,) Quarer-Car Model on Sochasic Terrain Consan design parameers: ms =1 kg mu =1 kg Vehicle speed = 2 mph Random Inpu variables 2 Damping, b s ~ N(7,14 ) Siffness, ~ N(41,(41 ) ) k s Random Inpu Process: Experimenal Sochasic Terrain from Yuma Proving Grounds ks k u() ms mu Random Oupu Process (Verical Acceleraion, G ) bs b xs xu Threshold = 2G Longiudinal Disance, f Time UNCLASSIFIED 33

35 Verical Acceleraion,G Verical Acceleraion,G UNCLASSIFIED 34 Quarer-Car Example u i u.2976u.1954u i1 i2 i3 i (, ) 4 Original PDF. 51 e 4 Sampling PDF s Time, sec Time, sec The sampling PDF resuls in more failures

36 Failure Rae Failure Rae UNCLASSIFIED 35 Quarer-Car Example Non-Saionary Case Threshold = 2 g Threshold = 2.65 g.2.15 MCS 5, samp IS 1, samp MCS 5, samp IS 1, samp Time, sec Time, sec

37 UNCLASSIFIED Acceleraed Tesing Research Acuaor Capabiliies Force raion 19 KN Dynamic sroke 355 mm Velociy 9.1 m/sec Force raing of load cell ransducer 55 Kip Analysis Capabiliies Faigue Damage Esimae Saisical Time Hisory Ediing Cycle Couning Analysis

38 How o Ge Involved in Research wih TARDEC UNCLASSIFIED 37 SBIR- Small Business Innovaive Research Auomoive Research Cener (ARC)- Alliance beween US Army and academia (Universiy of Michigan- Ann Arbor, Clemson Universiy, Oakland Universiy, Virginia Tech, and ohers). hp://arc.engin.umich.edu/. Simulaion Based Reliabiliy and Safey (SimBRS) Cooperaive Research and Developmen Agreemen (CRADA). Innovaion Grans

39 UNCLASSIFIED 38 Thank You! Q&A