Abstract: For establishing a simple and high efficient dynamic analysis model of tracked vehicle, an equivalent method of tracked vehicle suspension system is presented, and the calculation formula of equivalent damping and equivalent stiffness are established by researching on the relationship among the components of the suspension system. Based on the equivalent damping and equivalent stiffness, a plane eight degree of freedom mathematical model of the tracked vehicle is established. The surface of the road model is smoothed to filter the high frequency surface with the wavelet threshold filtering, which can take the filtering effect of the track for high frequency surface into account. The dynamic differential equations of the plane model are solved on the Matlab software with four or five order Runge-Kutta method. A single wheel suspension system mode and a multibody dynamics model of the tracked vehicle are established on the RecurDyn software. The simulating results of the two models and the calculating results of the equivalent method of tracked vehicle suspension system and the plane mathematical model of the tracked vehicle on the same road are compared, which shows that the calculation results have a good agreement with the simulation results. The conclusion above verifies that the equivalent method of tracked vehicle suspension system and the establishment of mathematical model are correct.

Key words: equivalent damping, equivalent stiffness, mathematical model, road filtering, tracked vehicle