No abstract

The article discusses the advantages for a tracked vehicle of a continuous steering control mechanism. Using the example of an idealized two-stream transmission of industrial tractor, an algorithm has been developed for separating two power flows from an internal combustion engine - to the main transmission and to the steering mechanism, with constant preservation of the maximum engine load.

The article is devoted to the investigation of the transient processes in the hydrodynamic transmission and hydro-hydraulic turning mechanism at the entrance to the turn and turning on the spot. Boundary ground conditions are determined for the tractor to perform stepless maneuvering while performing technological operations. The algorithm of the tracking system has been formulated, which made it possible to keep the radius of the trajectory fixed by the handwheel as the external resistance to movement changes.

The paper is dedicated to the rectilinear motion stability of an industrial caterpillar equipped with a follow-up control system (FCS). The FSC task: to ensure a rectilinear motion at the occurrence of barriers such as a hindrance under one of the tracks, heterogeneity of soil and so on. For the successful realization of the task set it is necessary to substantiate a criterion basis of the FCS. The necessity and possibility of control a tractor with a differential rotation gear and a follow-up system on two parameters – on an angular velocity or a relative bearing (depending on technological tasks of a tractor). There is shown a theoretical substantiation of the result obtained in the course of the mathematical experiment – motion control along a path curvature with the correction for the relative bearing, that is, the introduction of an invariant tie based on a standard.

The article presents the results of the development of a bench for a semi-full-scale simulation of the motion control system of a tracked vehicle with a hydrostatic trans-mission, intended both for teaching programming of logical controllers and for testing control algorithms at the stage of their development. The analysis of technical solutions known on the market with the identification of their main shortcomings is performed. In the framework of the concept of semi-full-scale modeling, a structure has been drawn up and implemented. A mathematical model of the control system for the movement of a tracked vehicle with hydrostatic transmission is presented. It is made on the basis of an industrial tracked tractor of traction class 15 tons manufactured by JSC Ural Road Construction Equipment Plant and adapted to the needs of the stand. A set of control algorithms has been formed, which includes an algorithm for controlling the movement of a caterpillar vehicle, an algorithm for activating the running-side brake when there is a risk of skidding, and an algorithm for activating the brake of the lagging side when the hydrostatic mechanism is overloaded by pressure. To organize the input of initial data, as well as observations of the simulation results, the Altair Embed software package developed a visualization system that includes an operator panel mimic diagram demonstrating changes in the basic parameters of the tracked vehicle's motion (center of gravity speed; center of gravity trajectory; pump flow control pa-rameters; curvature of the trajectory (set and current); track rotation speed on the left and right sides; soil resistance coefficient under each track), a panel settings the algorithms for motion control of a tracked vehicle, a panel of adjustment of parameters of the soil and the selection panel motion path of the tracked vehicle.