Abstract: For the study of steering performance of tracked vehicles under skidding, a steady-state steering model of tracked vehicle, which takes the skid and slippage of tracks and centrifugal force into consideration, is established to improve the simulating accuracy of the tracked vehicle steering model. Expressions of driving force and braking force of outside track and inside track, and steering resistance torque of tracked vehicles are derived using shear stress-shear displacement relationship model, respectively. According to force and torque equilibrium theory, the steering dynamic equations of tracked vehicle are established and solved by iterative algorithm. Taking a certain type of tracked vehicle with the integrated transmission device as the object,the accuracy of steering model of tracked vehicles is verified by comparing the experimental and calculated results. The rules of changing the kinematics and dynamic steering performance of tracked vehicles with turning radius and running velocity are deeply studied based on the steady-state steering model of tracked vehicle. The results show that the influence of the steering centrifugal force on steering performance increases significantly with the increase in running velocity and the decrease in turning radius.

Key words: ordnance science and technology, shear stress-shear displacement relationship, skid, slippage, tracked vehicle steering, experimental verification