ON THE ISSUE OF DETERMINING THE AMOUNT OF SKIDDING WHEN TURNING A TRACKED VEHICLE AROUND THE CENTER OF GRAVITY
Keywords:
skidding, turn in place, differential turning mechanism, on-Board transmission scheme, coeffi-cient of resistance to straight-line movement, coefficient of adhesion, coefficient of co-resistance to turn, traction forceAbstract
The article is devoted to the study of the rotation of a tracked vehicle relative to the vertical axis passing through the center of gravity. This movement of tracked vehicles became possible with the introduction of differential turning mechanisms in their transmissions or the use of on-Board schemes of continuously variable transmissions. The ability to turn on the spot significantly increased the maneuverability of both high-speed tracked vehicles and low – speed industrial tractors. The theory of motion of tracked vehicles in terms of rotation (around the center of gravity) described in the technical literature is not deep enough, because of design features of traditional mechanisms of rotation, providing minimum turn radius equal to the transverse base of the machine, i.e. the rotation around the stopped track. Skidding of the crawler relative to the support (ground) makes significant adjustments to the kinematics of the turn, and especially the turn around the center of gravity. The results of field tests of tracked vehicles with a differential turn mechanism differ significantly from the theoretical parameters of the turn kinematics in place, but no one has yet been able to quantify this difference and theoretically justify it. The authors established new analytical dependencies that clearly illustrate the multiple growth of track skidding when turning in place compared to straight-line movement. The slip coefficient increases up to 10 times, and it becomes impossible to ignore it when evaluating kinematic calculations of the curved movement of tracked vehicles. The results of the study can be useful to researchers and designers involved in the design of tracked vehicles with progressive transmissions and turning mechanisms.References
Жуковский, Н.Е. Условие равновесия твердого тела, опирающегося на неподвижную плоскость некоторой площадкой и могущего перемещаться вдоль этой плоскости с тре-нием / Н.Е. Жуковский // Труды Отделения физических наук Общества любителей есте-ствознания. – 1897. – Т. IX, вып. 1.
Опейко, Ф.А. Колесный и гусеничный ход / Ф.А. Опейко. – Минск: Изд-во Академии сельскохозяйственных наук Белорусской ССР, 1960. – 228 с.
Чобиток, В.А. Теория движения танков и БМП: учебник / В.А. Чобиток. – М.: Воен-ное изд-во, 1984. – 264 с.
Никитин, А.О. Теория танка / А.О. Никитин, Л.В. Сергеев. – Изд-во Военная акаде-мия бронетанковых войск, 1962. – 584 с.
Буров, С.С. Конструкция и расчет танков / С.С. Буров. – Изд-во Академии БТВ, 1973. – 602 с.
Забавников, Н.А. Основы теории транспортных гусеничных машин / Н.А. Забавников – М.: Машиностроение, 1968. – 396 с.
Позин, Б.М. Вопросы методологии в теории тяговой характеристики трактора: монография / Б.М. Позин. – Челябинск: Изд-во ЧГАУ, 2006. – 122 с.
Благонравов, А.А. Динамика управляемого движения гусеничной машины: учебное по-собие / А.А. Благонравов, В.Б. Держанский. – Курган: Изд-во Курганского машинострои-тельного института, 1995. – 162 с.
Кондаков, С.В. Алгоритм работы следящей системы управления для стабилизации прямолинейного движения промышленного трактора с дифференциальным механизмом поворота / С.В. Кондаков // Вестник Брянского гос. техн. ун-та. – 2019. – Т. 85, № 12. – C. 68–75.
Modelling and Dynamic Tracking Control of Industrial Vehicles with Tractor-trailer Structure / Hongchao Zhao, Zhe Liu, Zhiqiang Li et al. // IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). – Macau, China, 2019. – P. 2905–2910.
Grečenko, A. Thrust and slip of a track determined by the compression–sliding approach / A. Grečenko // Journal of Terramechanics. – 2007. – Vol. 44, iss. 6. – P. 451–459.
Troyanovskaya, I.P. Forces of Friction at the Wheel-to-Ground Contact in a Turning Ve-hicle / I.P. Troyanovskaya, B.M. Pozin // Procedia Engineering. – 2015. – Vol. 129. – P. 156–160.
Dolan, J.F. How well do surface slip measurements track slip at depth in large strike-slip earthquakes? The importance of fault structural maturity in controlling on-fault slip versus off-fault surface deformation / J.F. Dolan, B.D. Haravitc // Earth and Planetary Science Letters. – 2014. – Vol. 388. – P. 38–47.
Application of a 3D tractor-driving simulator for slip estimation-based path-tracking control of auto-guided tillage operation / Xiongzhe Han, Hak-Jin Kim, Chan Woo Jeon et al. // Biosystems Engineering. – 2019. – Vol. 178. – P. 70–85
Adaptive torque tracking control during slip engagement of a dry clutch in vehicle power-train / Jinrak Park, Seibum Choi, Jiwon Oh, Jeongsoo Eo // Mechanism and Machine Theory. – 2019. – Vol. 134. – P. 249–266.
Wang, W. Experimental study of a tracked mobile robot’s mobility performance /W. Wang, Zh. Yan, Zh. Du // Journal of Terramechanics. – 2018. – Vol. 77. – P. 75–84. – https://doi.org/10.1016/
j.jterra.2018.03.004.
Wong, J.Y. A general theory for skid steering of tracked vehicles on firm terrain / J.Y. Wong, C.F. Chiang // Proc. Inst. Mech. Eng., Part D. J. Automobile Eng. – 2001. – Vol. 215. – P. 343–355.
Song, X. Slip parameter estimation for tele-operated terrain vehicles in slippery terrain / X. Song, L.D. Seneviratne, K. Althoefer // Proc. Inst. Mech. Eng., Part I: J. Syst. Control Eng. – 2011. – Vol. 225. – P. 814–830.
Kinematics-aware model predictive control for autonomous high-speed tracked vehicles under the off-road conditions / Zhao Ziye, Liu Haiou, Chen Huiyan et al. // Mechanical Systems and Signal Processing. – 2019. – Vol. 123. – P. 333–350.
