Research on Characteristics of Tracked Vehicle Steering on Slope

Zhang, Yu; Qiu, Mianhao; Liu, Xixia; Li, Jun; Song, Haijun; Zhai, Yunkai; Hu, Hongjuan

doi:10.1155/2021/3592902

Cited by 13 publications

(10 citation statements)

References 6 publications

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“…This domain is of paramount importance for the development and accessibility of off-road equipment designed for particular terrain categories. Over the years, researchers have devised various methodologies to probe the mobility of these vehicles [ 2 , 3 ], given their critical role in navigating challenging terrains [ 4 , 5 ].…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain in Laboratory Conditions

Rauf,

Ning,

Ming

et al. 2024

Sensors

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Trafficability gives tracked vehicles adaptability, stability, and propulsion for various purposes, including deep-sea research in rough terrain. Terrain characteristics affect tracked vehicle mobility. This paper investigates the soil mechanical interaction dynamics between rubber-tracked vehicles and sedimental soils through controlled laboratory-simulated experiments. Focusing on Bentonite and Diatom sedimental soils, which possess distinct shear properties from typical land soils, the study employs innovative user-written subroutines to characterize mechanical models linked to the RecurDyn simulation environment. The experiment is centered around a dual-tracked crawler, which in itself represents a fully independent vehicle. A new three-dimensional multi-body dynamic simulation model of the tracked vehicle is developed, integrating the moist terrain’s mechanical model. Simulations assess the vehicle’s trafficability and performance, revealing optimal slip ratios for maximum traction force. Additionally, a mathematical model evaluates the vehicle’s tractive trafficability based on slip ratio and primary design parameters. The study offers valuable insights and a practical simulation modeling approach for assessing trafficability, predicting locomotion, optimizing design, and controlling the motion of tracked vehicles across diverse moist terrain conditions. The focus is on the critical factors influencing the mobility of tracked vehicles, precisely the sinkage speed and its relationship with pressure. The study introduces a rubber-tracked vehicle, pressure, and moisture sensors to monitor pressure sinkage and moisture, evaluating cohesive soils (Bentonite/Diatom) in combination with sand and gravel mixtures. Findings reveal that higher moisture content in Bentonite correlates with increased track slippage and sinkage, contrasting with Diatom’s notable compaction and sinkage characteristics. This research enhances precision in terrain assessment, improves tracked vehicle design, and advances terrain mechanics comprehension for off-road exploration, offering valuable insights for vehicle design practices and exploration endeavors.

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Section: Introductionmentioning

confidence: 99%

Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain in Laboratory Conditions

Rauf,

Ning,

Ming

et al. 2024

Sensors

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“…The research on improving the handling stability and safety of SBW systems was mainly for wheeled vehicles, and less research has been conducted on the handling stability and safety of SBW systems for tracked vehicles. The working environment of tracked vehicles is complex, and the driving principle is different from that of wheeled vehicles [10][11][12]. With the development of high-speed tracked vehicles, the research on the handling stability of SBW systems under the high-speed steering of tracked vehicles has attracted widespread attention.…”

Section: Introductionmentioning

confidence: 99%

Design of Zero-Differential Steering Controller for Tracked Vehicles With Hydraulic-Mechanical Transmission Based on Particle Swarm Optimization Algorithm

et al. 2023

Self Cite

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The handling stability of tracked vehicles not only affects the handling convenience of drivers but is also an important part of vehicle active safety. A zero-differential steering controller for tracked vehicles with hydraulic-mechanical transmissions was designed in this paper. First, the working principle of the steer-by-wire systems of tracked vehicles was analyzed, and the vehicle speed calculation model was established. Then, the steering dynamics model of the tracked vehicle was established based on the shear stress model. Finally, based on the particle swarm optimization algorithm, the established tracked vehicle steering dynamics model was iteratively solved, and the optimal yaw rate gain 𝐾 𝑟 was calculated in real time and used for vehicle steering control. The steering control simulation model of tracked vehicles was established in MATLAB/Simulink, and the control effect of the designed steering controller was verified by the simulation. The control effect was evaluated by the comprehensive evaluation index of the handling stability. The simulation results showed that the steering controller based on the particle swarm optimization algorithm effectively improved the handling stability of the tracked vehicle and reduced the burden on the driver.INDEX TERMS particle swarm optimization algorithm, steer-by-wire system, tracked vehicle, zerodifferential steering controller

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“…Zhang et al 9 proposed an improved dynamic steering model considered the relationship between the shear stress and shear displacement of the soil at the track-ground interface, and verified the validity of the model through machine-controlled co-simulation and experiments. Wang , Rui et al 10,11 introduced the lateral offset of track steering pole into the steering model, analyzed the steering process of high-speed tracked vehicles on hard roads, and achieved good verification results. Cheng et al 12 introduced centrifugal force and slippage of track into the dynamics model, and obtained the calculation formulas of traction force, braking force and steering resistance moment required by steering of tracked vehicles.…”

Section: Introductionmentioning

confidence: 99%

Researches on slope steering characteristics of tracked vehicle

Hou¹,

Shen²,

Chen

et al. 2023

Sixth International Conference on Intelligent Computing, Communication, and Devices (ICCD 2023)

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The hydraulic-mechanical differential steering enables the tracked vehicle to traverse the complex terrain environment. Therefore, this paper analyzes the principle of the mechanical differential steering of the tracked vehicle, establishes the mathematical model of the variable pump quantitative motor, then the dynamic model of the slope center steering is analyzed. The variation law of required traction force and azimuth angle under different braking forces and slope inclinations is analyzed to determine whether stable steering can be achieved based on MATLAB/Simulink.

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Research on Characteristics of Tracked Vehicle Steering on Slope

Cited by 13 publications

References 6 publications

Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain in Laboratory Conditions

Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain in Laboratory Conditions

Design of Zero-Differential Steering Controller for Tracked Vehicles With Hydraulic-Mechanical Transmission Based on Particle Swarm Optimization Algorithm

Researches on slope steering characteristics of tracked vehicle

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