New capabilities for simulating a tracked vehicle are presented, including an advanced dynamic track model, a high-fidelity diesel engine system model, and an integration scheme to perform a coupled simulation of vehicle/powertrain dynamics. These capabilities are essential for understanding the interplay of vehicle dynamics and powertrain dynamics, including track vibration (and durability), suspension response, and engine performance. The dynamic track model considers the track as an equivalent continuum and captures longitudinal and transverse track vibrations; static sag, and superposed translation. A low-order discrete model is developed by employing modal track coordinates. The continuum approximation for the track is validated through experiments on a representative track span. This track model is extended and implemented into a commercial multibody dynamics code-DADS-through development of a new user-support-force element that integrates the track element with the vehicle hull and suspension system. A range of dynamic track models results that allows one to tailor the degrees of freedom to a selected frequency range of interest in order to balance computational cost and accuracy. A virtual diesel engine model is developed as a tool to investigate the possible replacement of the current gas turbine engine used in the M1 Abrams tank. This study demonstrates the power of this simulation tool for evaluating new vehicle concepts prior to prototyping and manufacturing. The engine model is developed within the MATLAB/Simulink environment. Therefore, the integrated vehicle/powertrain model requires the coordination of two coupled models that reside in distinct simulation environments. To achieve this integration, a new numerical method-referred to as the leading-following approach-is developed, based on an explicit predictor-corrector scheme. This approach allows independent simulation environments to be coupled, offers easy extension to multiple applications, promotes efficient simulations, and requires only simple implementations of the software interfaces compared to the conventional master-slave integration approach. Numerical examples are reviewed in the paper, to highlight capabilities of the fully integrated simulation of a diesel-powered M1 tank.
