Dynamic modelling of the steering performance of an articulated tracked vehicle using shear stress analysis of the soil

Cheng

Advances in Mechanical Engineering

2023

The determination of Initial Track Tension (ITT) is an important issue for the moving performance of tracked vehicle under soft ground. At the present time, however, the selection of ITT only according to a moving performance or an operating condition under hard ground. Focus on this, a novel approach for determination of ITT without changing the basic vehicle parameters is proposed in this paper, which can improve the moving performance under soft ground comprehensively. Analytical models for predicting ground pressure under tracked vehicle on soft ground including ITT were used based on the track-soil coupling relationship, movement characteristics and turning characteristics of an articulated track vehicle, which applied to the straight driving condition, steering-driving condition and climbing condition. The intrinsic mechanisms between the ITT and the Mean Maximum Pressure (MMP) under roadwheels were revealed. The stresses produced by the action of track and sprocket, roadwheels, idle wheel, soil respectively were studied in consideration of the vehicle-soil mechanics theory and strength theory. The stress state and changes for an element of the track were investigated. What’s more, the relationship between the ITT and fatigue life of the track was explained in detail based on the Miner’s rule. On this basis, an optimal study for the ITT was performed taking advantage of NSGAII, which used the MMP under roadwheels and fatigue life of track as optimization objectives. And then, the determination principles of the ITT were presented, and it was identified by an articulated track vehicle. The results are significant to the prediction and control of the moving performance of track vehicle under soft ground.

Section: Itt-ground Pressure Models On Multiple Operating Conditionsmentioning

confidence: 99%

“…All other parameters and settings were described in literature. [21][22][23] The resulting distribution of ground pressure on steering-driving was shown in Figure 2.…”

Section: Itt-ground Pressure Model On Steering-driving Conditionmentioning

confidence: 99%

Optimal study of the Initial Track Tension for the track vehicle under soft ground based on multiple operating conditions

Cheng

Advances in Mechanical Engineering

2023

“…Due to the production of centrifugal force, two hazards may arise when vehicles are operating on a curve: slipping outwards and overturning [20]. However, because modern automobile manufacturing standards minimize the center of gravity of vehicles, the danger of overturning is very small, and overturning occurs after slip, so only slip needs to be restricted [21]. As shown in Figure 4.…”

Section: Vehicle Horizontal Stress Analysis When Operatingmentioning

confidence: 99%

Horizontal Alignment Security Design Theory and Application of Superhighways

Pei

Ran

et al. 2020

Sustainability

In China, the maximum design speed of highways is 120 km/h, which first appeared in the Highway Engineering Technical Standard (Trial) in 1951. However, vehicle performance, road design, and construction technology have been greatly improved over the past 68 years. To adapt to the development demands of highway design speeds above 120 km/h in the future, it is urgent to study superhighway alignment design theory. Therefore, the horizontal alignment security design theory of superhighways was developed in this paper. First, the definition, classification, and construction mode of a superhighway and suitable vehicles of different grades are presented. Then, the lengths of straight lines were limited to reduce driving fatigue. Next, the minimum radii of circular curves were calculated based on driver characteristics and stress analysis of operating vehicles. Finally, the minimum lengths of transition curves were calculated based on the centrifugal acceleration of the operating vehicles, the travel time, and the passenger visual characteristics. The calculation and analysis results show that the superhighway linear features conform to the vehicle operating characteristics, and can ensure the safety of driving.

“…The steering characteristics of ATVs have been extensively studied in the recent research on ATVs in [23,24]. Furthermore, the design parameters regarding the steering characteristics of the ATVs were examined in [25,26].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning for an Articulated Tracked Vehicle and Tracking the Trajectory via an Adaptive Model Predictive Control

Cheng

2023

Electronics

Self Cite

This paper focuses on the trajectory planning and trajectory tracking control of articulated tracked vehicles (ATVs). It utilizes the path planning method based on the Hybrid A-star and the minimum snap smoothing method to obtain the feasible kinematic trajectory. To overcome the highly non-linearity of ATVs, we proposed a linear-parameter-varying (LPV) kinematic tracking-error model. Then, the kinematic controller was formulated as the adaptive model predictive controller (AMPC). The simulation of the path planning algorithm showed that the proposed planning strategy could provide a feasible trajectory for the ATVs passing through the obstacles. Moreover, we compared the AMPC controller with the developed controller in four scenarios. The comparison showed that the AMPC controller achieved satisfactory tracking errors regarding the lateral position and orientation angle errors. The maximum lateral distance error by the AMPC controller has been reduced by 72.4% compared to the standard-MPC controller. The maximum orientation angle error has been reduced by 55.53%. The simulation results confirmed that the proposed trajectory planning and tracking control system could effectively perform the automated driving behaviors for ATVs.