Prof (Dr) B

Dayal

Prof (Dr) B
Dayal

EQUATION OF MOTION
MATHEMATICAL FORMULATION OF THE EQUATION
ASSUME TANK AS A SOLID BODY AND MOVING ON
A SLOPE
LET THE ACCELERATION BE X
DRAWBAR RESISTANCE BE Rdr
RESOLVING ALL THE EXTERNAL FORCES ACTING
ON THE TANK TO ITS LONGITUDINAL AXIS
PARALLEL TO THE SURFACE OF MOTION
P = R + G SIN + Rdr + Mx
(1)
N G COS = 0
WHERE M = MASS OF THE TANK = G/g
AS
R = fN = fG cos EQN (1) CAN BE WRITTEN
AS P = G (sin + f cos ) + Rdr + mx

EQUATION OF MOTION
MATHEMATICAL FORMULATION OF THE EQUATION
(CONTD)
SINCE
sin + f cos = fr WHERE fr IS THE TOTAL
SPECIFIC RESISTANCE
P = Gfr + Rdr + mx
x = (P - Gfr Rdr)/m
THIS EQUATION IS THE DIFFERENTIAL EQUATION
OF MOTION OF TANK CENTRE OF GRAVITY
IT CONTAINS THREE UNKNOWNS: x, P AND fr
IN CASE OF TANK MOTION WITHOUT DRAW BAR
RESISTANCE,
x = (P Gfr)/m
WITH TWO UNKNOWNS

DIFFERENTIAL EQUATION OF TANK

MOTION AS A SYSTEM
LAW OF KINETIC ENERGY
THE CHANGE OF SYSTEM KINETIC ENERGY IS
EQUAL TO THE SUM OF THE WORK OF ALL THE
EXTERNAL AND INTERNAL FORCES
dTKE = dWeng + dWg + dWr
where, Tke Differential of tank kinetic energy
dWeng elemental work of engine moving
forces
dWg elemental work of gravity force
dWr elemental work of all resisting forces

DIFFERENTIAL EQUATION OF TANK

MOTION AS A SYSTEM
TANK KINETIC ENERGY
KINETIC ENERGY OF TANK MOVING AT SPEED V IS EQUAL
TO
TKE = T1 + T2
WHERE,
T1 KE OF TANK IN TRANSIT MOTION
T2 KE OF TANK PARTS IN VOLVED IN THE RELATIVE
MOTION AND GEARED TO THE TRACK ASSEMBLY
T1 = Mv2/2
T2 = (mcv2)/2 + (Iii2)/2
WHERE, mc TRACK CHAIN MASS
Ii INERTIA MOMENT OF ROTATING
MASS i
i ANGULAR MOVEMENT OF PART i
= v igr/rds
WHERE, igr GEAR RATIO BETWEEN THE PARTS
CONCERNED AND SPROCKET

DIFFERENTIAL EQUATION OF TANK

MOTION AS A SYSTEM
DIFFERENTIAL OF TANK KINETIC ENERGY
igr = rds/ri
ri WHEEL OR ROLLER RADIUS
THEREFORE,
T2 = (mcv2)/2 + (v2/2rds2) Ii igr2
Thus ke of the tank will be
TKE = T1 + T2
= mv2/2 + v2/2 [mc + (1/rds2)Ii igr2]
= mv2/2 [1 + mc/m + (1/mrds2)Ii igr2]
ASSUME S = 1 + mc/m + (1/mrds2)Ii igr2
S CAN BE ASSUMED AS THE COEFFICIENT OF TANK
MASS CONDITIONAL INCREAMENT FOR THE
INCREASE IN KE.
TKE = S mv2/2
AND dTKE = Smvdv
(3)

DIFFERENTIAL EQUATION OF TANK

MOTION AS A SYSTEM
S = Sc + itr2
WHERE,

Sc CONSTANT

itr GEAR RATIO BETWEEN THE GIVEN

PART AND THE SPROCKET. IT IS CONSTANT AND
INDEPENDENT OF GEAR ENGAGED IN THE GEAR BOX.
Ie/mrds2 THIS VALUE FOR A GIVEN
DESIGN IS CONSTANT
Ie- TOTAL MOMENT OF INERTIA OF PARTS
BETWEEN THE ENGINE AND THE GEAR BOX.
WHEN CLUTCH IS DISENGAGED
SO = SS + 0 Itr2
WHERE,

0 = Iel/mrds2

DIFFERENTIAL EQUATION OF TANK

MOTION AS A SYSTEM
ELEMENTAL WORK OF TANK MOVING FORCES
dweng = 746 Pfe dt
(4)
WHERE,
Pfe ENGINE FREE POWER in HP
ELEMENTAL WORK OF GRAVITY FORCE (dw g)
Dwg = -GSin dx (5)
Where,
dx ELEMENTAL DISTANCE TRAVELLED BY THE
TANK IN TIME dt
ELEMENTAL WORK OF ALL FORCES RESISTING THE TANK
MOTION.
Dwr = dwif + dwef (6)
WHERE, dwif - ELEMENTAL WORK OF INTERNAL FORCES
RESISTING MOTION
= - 746 Pfe (1 tr) dt
dwef ELEMENTAL WORK OF THE EXTERNAL FORCES
RESISTING MOTION

DIFFERENTIAL EQUATION OF TANK

MOTION AS A SYSTEM
CONSIDERING EQUATIONS 2, 3, 4, 5 & 6
S mv dv = 746 Pfe dt G Sin dx 746 Pfe (1- tr )dt fGCos dx
Rdr dx
THUS, S mv dv = 746 Pfetrdt frG dx Rdrdx
WHERE,
fr = Sin + f Cos
BY DEVIDING THE EQWUATION WITH dt
Smv dv/dt = 746 Pfetr frG dx/dt Rdrdx/dt
Smv x = 746 Pfetr frG v Rdr v
THEREFORE,
X = (746 Pfetr/v frG Rdr)/Sm
IF v EXPRESSED IN KMPH:
X = (2685.6 Pfetr/v frG Rdr)/Sm (2700 Pfetr/v frG
Rdr)/Sm
FOR MOVE WITHOUT TRAILER:
X = (2700 Pfetr/v frG)/Sm
OR X = g(2700 P /Gv fr)/S

ESTIMATION OF REQUIRED FORCES FOR

TRACTION, ENGINE TRACTION AND
ADHESION TRACTION
REQUIRED TRACTION FORCE (Pr):
Pr = frG + Rdr + mx
Pr = frG + Rdr APPLICABLE FOR UNIFORM
MOTION WITH TRAILER
Pr = frG
APPLICABLE FOR UNIFORM
MOTION
WITHOUT TRAILER
P = (270 Pfetr/v (S 1)mx
REQUIRED ENGINE TRACTION FORCE
Pe = 270 Pfet/v
REQUIRED ADHESION FORCE (Pad)

ESTIMATION OF REQUIRED FORCES FOR

TRACTION, ENGINE TRACTION AND
ADHESION TRACTION

ACCELERATED OR UNIFORM MOTION:

Pad Pe Pr
REDUCED ENGINE SPEED / STALLING:
Pad Pr Pe
TRACK SLIDING: Pad < Pr < Pe