Analysis and Experimental Verification of Yaw Motion Response Characteristics of High-speed Tracked Vehicle

doi:10.12382/bgxb.2022.1300

Abstract

Abstract:

In order to study the handling characteristics of high-speed tracked vehicle to lay the foundation for the evaluation and control of its handling stability, the nonlinear steering dynamics model and linear two-degree-of-freedom linear steering dynamics model of high-speed tracked vehicle are established and verified by experiments. The transfer function of the yaw motion of high-speed tracked vehicles is derived using the two-degree-of-freedom linear model. Based on this, the time domain and frequency domain response characteristics of the yaw motion of high-speed tracked vehicles are analyzed, and the definitions of steady-state yaw rate gain and critical damping speed of tracked vehicles are proposed. The analyed result show that the steady-state yaw rate gain of tracked vehicle is less than 1, so the tracked vehicle has deficient steering characteristic. The damping ratio of tracked vehicle system is about 1. When the vehicle speed is less than the critical damping speed, the vehicle system is an overdamped system, and the rise time of yaw rate response is within 0.2 seconds. When the vehicle speed is equal to the critical damping speed, the vehicle system is a critially-damped system, and the rise time of yaw rate response is greater than 10 seconds. When the vehicle speed is greater than the critical damping speed, the vehicle system is an underdamped system, and the rise time of yaw rate response decreases rapidly to 2-3 seconds.

Key words: high-speed tracked vehicle, handling characteristics, yaw motion, transient response, frequency response

CLC Number:

TJ811

YUAN Yi, GAI Jiangtao, ZENG Gen, ZHOU Guangming, LI Xunming, MA Changjun. Analysis and Experimental Verification of Yaw Motion Response Characteristics of High-speed Tracked Vehicle[J]. Acta Armamentarii, 2024, 45(4): 1094-1107.

Figures/Tables 28

Fig.1 Steering plane motion diagram of tracked vehicle

Fig.2 Crawler winding speed

Table 1 Simulation parameters

参数	数值
m/kg	20380
L/m	4.51
B/m	2.84
H/m	1.11
n	6
r_z/m	0.2626
K	20
μ₀	0.8

Fig.3 Comparison between test and simulated values of sprocket torque

Fig.4 Comparison between yaw rate test and simulated values of two models

Fig.5 Comparison between test and simulated values of vehicle motion track

Fig.6 Yaw motion control input

Fig.7 Crawler winding speed

Fig.8 Longitudinal sliding speed of track

Fig.9 Lateral sliding speed of track under the load wheel

Fig.10 Lateral acceleration

Fig.11 Longitudinal component of track traction

Fig.12 Lateral component of track traction

Fig.13 Track steering resistance torque

Fig.14 Comparison of yaw rates of nonlinear model and linear model

Fig.15 Relationship between longitudinal friction coefficient and longitudinal slip speed

Fig.16 Relationship between longitudinal friction coefficient and lateral slip speed

Fig.17 Applicable scope of linear model

Fig.18 Curves of yaw rate gain versus vehicle speed under different road conditions

Fig.19 Vehicle motion track

Fig.20 Comparison of yaw rate gain test and calculated results

Fig.21 Step responses of vehicle yaw rate at different speeds

Fig.22 Curves of undamped natural vibration anglular frequency changing with vehicle speed under different road conditions

Fig.23 Curves of system damping ratio changing with vehicle speed under different road conditions

Fig.24 Curves of rise time changing with vehicle speed under different road conditions

Fig.25 Curves of peak time changing with vehicle speed under different road conditions

Fig.26 Frequency response characteristics of vehicle yaw rate at different speeds

Fig.27 Frequency response characteristics of vehicle yaw rate with different ground parameters

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