Turning Model for Tracked Vehicles on Hard Ground: Analysis and Verification

doi:10.12382/bgxb.2021.0849

Abstract

Abstract:

The interaction between tracked vehicles and the ground is complex. In general, methods based on shear stress-shear displacement theory require the integration of time and position, which is complicated and rarely applied to real-time vehicle control algorithms. Turning analysis of tracked vehicles typically assumes that grounding pressure is uniformly or concentratedly distributed.However, the calculations and test results show that the track-ground pressure forms multiple peaks on hard ground. In view of the above problems, based on previous studies, this paper proposes a simplified model of track-ground pressure, which has good consistency with the actual track-ground pressure on hard road surfaces. The model is then applied to the dynamic analysis of tracked vehicle turning. The vertical pressure-shear displacement relationship proposed by J.Y.Wong is employed to calculate the shear displacement when the track-grounding pressure keeps changing. A steering discretized model for tracked vehicles is proposed, and the test results show that the model has high accuracy yet still high complexity. To further simplify the model, the concepts of wheeled vehicle tire slip angle and slip rate are used.Then, a simplified tracked vehicle dynamics model is derived by using the shear stress-shear displacement theory. It avoids complex integration or summation, and can be applied to model-based motion control methods. Besides, it is almost as accurate as the complex steering analysis model.

Key words: tracked vehicle, steering characteristics, non-uniformly distributed load, model verification

CLC Number:

U469.6⁺94

ZHANG Ruizeng, GONG Jianwei, CHEN Huiyan, LIU Haiou, LU Jiaxing. Turning Model for Tracked Vehicles on Hard Ground: Analysis and Verification[J]. Acta Armamentarii, 2023, 44(1): 233-246.

Figures/Tables 20

Fig.1 Track-ground contact deformation

Fig.2 Curve fitting of track-ground pressure on the middle road wheel

Fig.3 Curve fitting of track-ground pressure on the outer road wheels on both sides

Fig.4 Track-ground pressure under concentrated load

Fig.5 Analysis of racked vehicle turning

Fig.6 Relationship between vertical load and shear displacement

Fig.7 Infinitesimal analysis of a track

Fig.8 Track-groundcontactanalysis for a single road wheel

Fig.9 Test conditions

Table 1 Test parameters

参数	数值
总质量m/t	9.66
履带中心距B/m	2.464
履带接地长L/m	3.095
履带接地宽度b/m	0.365
主动轮半径r/m	0.2654
负重轮数量n	4
单侧驱动电机额定功率/kW	75
单侧驱动电机峰值功率/kW	110
转矩误差反馈/(N·m)	≤10
组合导航系统差分定位误差/cm	≤15
一挡传动效率/%	92
Z轴转动惯量(估计)J/(kg·m²)	15800
一挡质量增加系数δ	1.446
沙石/硬土/水泥路面摩擦因数μ	0.99/0.95/0.55
沙石/硬土/水泥路面抗剪模量K/m	0.008/0.0025/0.0018
沙石/硬土/水泥路面行驶阻力系数f	0.065~0.076/0.076/0.063

Fig.10 Qualitative test results of track-ground pressure

Fig.11 Comparison of calculation and test results on sand-gravel road at 3km/h

Fig.12 Comparison of calculation and test results on sand-gravel road at 10km/h

Fig.13 Comparison of calculation and test results on sand-gravel road at 15km/h

Fig.14 Comparison of calculation and test results on hard dirt road at 2.5~10.5km/h

Fig.15 Comparison of calculation and test results on cement road at 3~8km/h

Fig.16 Comparison of calculation and test results on sand-gravel road at 15km/h using the simplified model

Fig.17 Comparison of calculation and test results on sand-gravel road at 10km/h using the simplified model

Fig.18 Comparison of calculation and test results on sand-gravel road at 3km/h using the simplified model

Fig.19 Model verification effect during acceleration on sand-gravel road

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