Stepless differential rotation mechanism test bench with tracking motion control system of tracked industrial tractor

Abstract

The curvilinear movement of tracked vehicles is controlled by the mismatch of track speeds. Appearance of sufficient installation power at an affordable price on the market of hydrostatic transmissions made it possible to organize stepless control of the turning radius both in the transport mode and when performing technological operations of bulldozing and loosening. External interference distorts the path defined by the joystick. To correct the trajectory, navigation systems are used, which also became available to manufacturers and consumers of industrial tractors. To test control algorithms for a tracked vehicle, bench test equipment is required. The article is devoted to the testing of tracked industrial tractors with modern navigation systems, in particular bench research tests of a stepless differential mechanism for turning machines with a tracking motion control system. The stand, which contains the test drive stepless differential rotation mechanism (BDM) with a motion tracking control system (CCM) motionlessly mounted on the base of a car frame with a drive, and is also equipped with guiding devices to provide a given spatial movement of a single gyrocompass with an accelerometer, entering -which is part of the SSU movement. The technical result is the expansion of the functionality of the stand, which allows to determine the operability and configure the control system by the motion, as well as to control the main parameters of the BDM by simulating in stationary bench conditions the input effects on the elements of the control system, which to the maximum extent correspond to the actual conditions of movement of the machine in the space , while reducing the complexity and cost of these works, by eliminating the need to use vehicles.