Study Ramp Steering Dynamics Problem of Small Tracked Vehicle

2012 ◽  
Vol 630 ◽  
pp. 249-252
Author(s):  
An Cheng Chen ◽  
Xi Hui Mu ◽  
Feng Po Du

The necessity and importance of studying the dynamical characteristics of ramp steering was described. After the force analysis of ramping going up, down and along the slope, Especially don‘t ignored unchanged load distribution that was caused by the longitudinal force and lateral force, Establish the mathematical model of traction and braking force. Through the simulation experiment, the result showed that the traction and braking force changed with definite rules when the tracked vehicle turned on the slope, which has practical significance for the further study of the vehicle’s power matching problems.

2013 ◽  
Vol 798-799 ◽  
pp. 586-589
Author(s):  
Jian Hua Chen ◽  
Xi Hui Mu ◽  
Feng Po Du ◽  
Kai Lv

This vehicle is mainly used for transportation of materials at a short distance in a variety of harsh terrain, such as mountains, ravines, jungles, deserts, beaches, snow-covered environment. Steering on ramp is a common working condition for this vehicle. For the restriction of the tracked vehicles size and internal space of chassis, the selected power of engine is always small. Therefore it is necessary to study on the tracked vehicle steering performance on ramp and to calculate traction and braking force of the inner and outer crawler required, which has practical significance for the further study on the vehicles dynamics research and power matching.


1976 ◽  
Vol 4 (3) ◽  
pp. 155-168
Author(s):  
B. D. A. Phillips

Abstract Tests were carried out to compare the effect of longitudinal force on the lateral force and aligning moment produced by a bias and a radial tire for different slip angles. Small differences occurred in the lateral force-driving force characteristics at low slip angles. Large differences occurred between the aligning moment-longitudinal force characteristics of the two tires, when the bias but not the radial tire exhibited a negative aligning moment upon the application of a braking force. These differences were caused mainly by differences in the pressure distributions in the contact patches of the two tires.


2020 ◽  
pp. 29-33
Author(s):  
S. V. Kondakov ◽  
O.O. Pavlovskaya ◽  
I.D. Ivanov ◽  
A.R. Ishbulatov

A method for controlling the curvilinear movement of a high-speed tracked vehicle in a skid without loss of stability is proposed. The mathematical model of the vehicle is refined. With the help of simulation modeling, a control algorithm is worked out when driving in a skid. The effectiveness of vehicle steering at high speed outside the skid is shown. Keywords: controlled skid, dynamic stability, steering pole displacement, hydrostatic transmission, automatic system, fuel supply. [email protected]


1988 ◽  
Vol 47 (1) ◽  
pp. 105-110 ◽  
Author(s):  
P. K. Bhargava ◽  
E. R. Ørskov ◽  
T. K. Walli

AbstractExperiments were made to study the proportion, chemical composition, and rumen degradability of the morphological components of barley straw (Corgi variety) and to study the selection of these components by sheep. The proportions in the harvested straw dry matter (DM) as leaf blade, leaf sheath, stem and chaff were 128, 314, 500 and 58 g/kg DM, respectively. The different components of straw on analysis proved to have very different concentrations of nitrogen and neutral-detergent cellulase digestibility. The leaf blades had the highest and the stems the lowest values. The degradabilities of DM in the components and in the whole straw were determined by measuring DM loss from samples incubated in nylon bags for various periods in the rumen of sheep. Responses were measured using the mathematical model p = a+b (1–e−ct) where p is DM loss, (a+b) potential degradability, c the rate constant of DM loss and t is the time of incubation. DM losses decreased in the order leaf blades > leaf sheath > whole plant > chaff > stems. Leaf blades also had the highest potential degradability and rate of degradation.In another trial, five sheep were offered unchopped barley straw ad libitum. There were five treatment periods in which sheep were allowed to leave uneaten proportionately 0·2, 0·3, 0·4, 0·5 and 0·7 of the straw on offer for assessing the animal's selection of the morphological components of that straw. The amount of leaf blade in the material consumed increased in largely a linear (P < 0·01) fashion with the amount of excess allowance. The proportion of stem eaten varied conversely. The selection of leaf sheath was less apparent. Little stem was consumed until the proportion of leaf blade in the food available decreased below proportionately 0·4. The practical significance of the study is discussed.


2020 ◽  
Vol 1 (4) ◽  
pp. 80-91
Author(s):  
A.A. Stadukhin ◽  

Introduction. Determination of the traction force and power required in a turn by a tracked ve-hicle is based on analytical dependencies given in classical literary sources. In this case, the de-pendence of the theoretical and actual turning radius is usually not described accurately enough. Subject of study. A study of the dependence of the theoretical and actual turning radius and the influence of the parameters of the undercarriage of the tracked vehicle, the characteristics of the support base and the mode of movement on it was made. Methodology and methods. The study was carried out using a specially developed stationary rotation tracked vehicle (TV) model, which differs by taking into account the redistribution of nor-mal reactions and implementation, allowing one to quickly carry out multifactorial experiments. The rotation of the TV in the model is described as a plane motion of a rigid body. In contrast to the classical approaches, the model allows one to study the rotation of the TV at a speed close to the critical drift. Results and scientific novelty. During computational experiments, the parameters of the chassis of the TV, the properties of the support base, as well as the speed of movement and the actual turn-ing radius were varied. It was found that the classical dependences of the actual and theoretical turning radius need to be refined when driving at a speed close to the critical drift, while the form of the dependence is determined by the height of the center of mass of the TV. Practical significance. These features should be taken into account both when assessing the speed of the vehicle and determining the required thrust-to-weight ratio, and when working on the development of active safety systems for tracked vehicles.


2019 ◽  
Vol 10 (1) ◽  
pp. 1-9 ◽  
Author(s):  
Daniel Varecha ◽  
Robert Kohar ◽  
Frantisek Brumercik

Abstract The article is focused on braking simulation of automated guided vehicle (AGV). The brake system is used with a disc brake and with hydraulic control. In the first step, the formula necessary for braking force at the start of braking is derived. The stopping distance is 1.5 meters. Subsequently, a mathematical model of braking is created into which the formula of the necessary braking force is applied. The mathematical model represents a motion equation that is solved in the software Matlab by an approximation method. Next a simulation is created using Matlab software and the data of simulation are displayed in the graph. The transport speed of the vehicle is 1 〖m.s〗^(-1) and the weight of the vehicle is 6000 kg including load. The aim of this article is to determine the braking time of the device depending from the input data entered, which represent the initial conditions of the braking process.


Author(s):  
R. Lunderstädt ◽  
K. Fiedler

In the paper to be presented diagnostic procedures on the basis of a gas path analysis are applied on a two-shaft jet engine. Starting from the mathematical model of the engine a filter-algorithm is used which delivers from actual measurement data the state of the engine for different working conditions. The procedure is proven for some examples and discussed in regard of its practical significance.


2021 ◽  
Vol 2113 (1) ◽  
pp. 012080
Author(s):  
Xiuhao Xi ◽  
Jun Xiao ◽  
Qiang Zhang ◽  
Yanchao Wang

Abstract For the problem of road surface condition recognition, this paper proposes a real-time tracking method to estimate road surface slope and adhesion coefficient. Based on the fusion of dynamics and kinematics, the current road slope of the vehicle which correct vertical load is estimated. The effect of the noise from dynamic and kinematic methods on the estimation results is removed by designing a filter. The normalized longitudinal force and lateral force are calculated by Dugoff tire model, and the Jacobian matrix of the vector function of the process equation is obtained by combining the relevant theory of EKF algorithm. The road adhesion coefficient is estimated finally. The effectiveness of the algorithm is demonstrated by analyzing the results under different operating conditions, such as docking road and bisectional road, using a joint simulation of Matlab/Simulink and Carsim.


2018 ◽  
Vol 10 (1) ◽  
pp. 168781401774770
Author(s):  
Bei Shaoyi ◽  
Li Bo ◽  
Zhu Yanyan

On the basis of calculating the longitudinal force using the original brush model, we simplify the tire structure and consider the lateral force generated by the lateral elasticity of the tread. At the same time, the boundary conditions between the adhesion area and the slip zone in the contact area of the tire are fully discussed. By establishing an improved tire brush model, the error caused by neglecting the sideslip characteristics is avoided, and the adaptability of the tire model is improved. A double nonlinear compensation method based on the lateral acceleration deviation and the yaw rate deviation is employed to estimate the road adhesion coefficient, which is closer to the actual attachment situation than the standard calculation. Based on this model, the vehicle stability coefficient k is defined and calculated to describe the stability of the vehicle during the driving process. The modeling results show that the value of k is always in the stable range of [0, 1]. Therefore, the vehicle that utilizes the improved tire brush model is always within the controllable range in the driving process, which verifies the effectiveness of the model.


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