Analysis of High-Speed Electric Tracked Vehicle’s Handling Characteristics

doi:10.12382/bgxb.2022.0764

Abstract

Abstract:

In order to lay the foundation for the evaluation and control of the high-speed electric tracked vehicle’s handling stability, the open-loop handling characteristics of the vehicle are analyzed, and the vehicle yaw motion response test is conducted. Then, on this basis, the vehicle’s handling characteristics based on the driver-vehicle-road closed-loop system are analyzed. The results show that: the higher the vehicle speed is, the smaller the yaw rate stability value is; the better the road condition is, the faster the yaw rate response is; when the dynamic response characteristics of the vehicle are considered, the driver’s preview time to ensure the stability of the closed-loop system needs to be increased, and the driver’s shortest reaction delay time is shortened. In addition, faster response speed of the drive motor requires greater minimum preview time to ensure the system stability.

Key words: electric tracked vehicle, high speed tracked vehicle, handling characteristics, yaw motion, driver-vehicle-road closed-loop system

CLC Number:

TJ811

YUAN Yi, GAI Jiangtao, ZHOU Guangming, GAO Xiucai, LI Xunming, MA Changjun. Analysis of High-Speed Electric Tracked Vehicle’s Handling Characteristics[J]. Acta Armamentarii, 2023, 44(1): 203-213.

Figures/Tables 28

Fig.1 Diagram of plane motion for steering of tracked vehicle

Fig.2 Structural diagram of the electric driver

Fig.3 Block diagram of the electric tracked vehicle

Fig.4 Relationship between the real part of the pole of the second-order link and the vehicle speed

Fig.5 System poles

Fig.6 Steering wheel angle

Fig.7 Vehicle speed

Fig.8 Yaw rate of the electric tracked vehicle

Fig.9 Comparison between ramp step input of steering wheel angle and test data of steering wheel angle

Fig.10 Comparison between yaw rate test data and the yaw rate ramp step response

Fig.11 Step response of the electric vehicle yaw rate with different speeds

Fig.12 Step response of the vehicle yaw rate with different ground parameters

Fig.13 Vehicle track

Fig.14 Block diagram of the driver control links

Fig.15 Block diagram of the quasi-steady closed-loop system

Fig.16 Response of the closed-loop system under single lane change condition with different preview times

Fig.17 Response of the closed-loop system under single line lane change condition with TP=0.5s

Fig.18 Response of the closed-loop system under single lane change condition with different driving gains

Fig.19 Response of the closed-loop system under single lane change condition with GD=6000

Fig.20 Response of the closed-loop system under single lane change condition with different vehicle parameters

Fig.21 Response of the closed-loop system under single lane change condition with different vehicle speeds

Fig.22 Block diagram of the driver-vehicle-road dynamic closed-loop system

Fig.23 Vehicle track under single lane change condition with different preview times

Fig.24 Vehicle lateral acceleration under single lane change condition with different preview times

Fig.25 Vehicle track under single lane change condition with different driver reaction delay times

Fig.26 Vehicle lateral acceleration under single lane change condition with different driver reaction delay times

Fig.27 Vehicle track under single lane change condition with different motor response times

Fig.28 Vehicle lateral acceleration under single lane change condition with different motor response times

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