Analytical Study on the Cornering Behavior of an Articulated Tracked Vehicle

Abstract

Articulated tracked vehicles have been traditionally studied and appreciated for the extreme maneuverability and mobility flexibility in terms of grade and side slope capabilities. The articulation joint represents an attractive and advantageous solution, if compared to the traditional skid steering operation, by avoiding any trust adjustment between the outside and inside tracks. This paper focuses on the analysis and control of an articulated tracked vehicle characterized by two units connected through a mechanical multiaxial joint that is hydraulically actuated to allow the articulated steering operation. A realistic eight degrees of freedom mathematical model is introduced to include the main nonlinearities involved in the articulated steering behavior. A linearized vehicle model is further proposed to analytically characterize the cornering steady-state and transient behaviors for small lateral accelerations. Finally, a hitch angle controller is designed by proposing a torque-based and a speed-based Proportional Integral Derivative (PID) logics. The controller is also verified by simulating maneuvers typically adopted for handling analysis.

Assessment of the Stability of Bev Lhd Loader

“…As regards the analysis of vehicle stability, the subject literature provides general theoretical models for the fourwheel chassis itself [25] or for vehicles with multiple axes [26]. One of the articles discusses an interesting articulated machine, but on a caterpillar chassis, for which the Authors presented a complex dynamic theoretical model and the results of analytical research [27]. Many studies concern agricultural machines, articulated and with rigid frames.…”

Research on Path Planning and Trajectory Tracking of an Unmanned Electric Shovel Based on Improved APF and Preview Deviation Fuzzy Control

“…Let x = (x, y, θ) T be the state vector, u = (v l , v r ) T be the input vector, the matrix state equation of Equation ( 18) is shown in Equation (20):…”

“…A linearized vehicle model is proposed to analyze and characterize the steady-state and transient behavior of cornering under slight lateral acceleration. The proportional integral derivative (PID) logic based on torque and speed is proposed, and the angle controller of the hitch is designed and verified [19,20]. Sharma proposed a method of intelligent target recognition for a multi-robot system based on intelligent distance measurement for path planning.…”

Development of the conceptual design of vehicles for off-road container transportation for mining applications

“…In this context, the prediction of mobility [3][4][5][6][7][8] and analysis of the significance of the performance properties of vehicles for off-road container transportation during the research phase is an urgent problem.…”