The article deals with the problem of the characteristics selection for the electric motors of the drivetrains of the high-speed tracked vehicles with individually driven sprockets. The existing method of the tracked vehicle cornering dynamics analysis is not suitable for the analysis of the motion at the speeds near to the critical speeds in the skidding mode. The authors offer a method for improving the accuracy of the existing analytical dependencies by the use of neural network. The above-mentioned improvements provide estimation of the limit values of the required traction forces on the sides of the vehicle but they do not allow gathering statistical data on the electric motor operating conditions of short and long duration during the vehicle operation. The authors offer to solve this problem by means of a driving simulation complex. The complex provides simulation of the tracked vehicles driving along stochastic routes in real time mode and collection of the stochastic data on the electric motor loads.
In this paper, authors propose a method for determining the mechanical characteristics of traction electric motors and parameters of an electromechanical transmission of an industrial tractor. To ensure maximum machine performance, the developed transmission has two mechanical ranges: transport and technological. A feature of the presented scheme is the inclusion of a «ZK» type rotation mechanism (developed by the staff of Bauman MSTU G. Zaichik, M. Kreines and M. Kristi) in its composition. This mechanism is characterized by high traction in turning. The layout of industrial tractors involves placing the transmission in a cramped space inside the frame. In this regard, when developing the unit, it was required to implement its most compact design. This was achieved by using the same planetary gears to form the «ZK» rotation mechanism and for the reduced «technological» transmission range. As part of the study, traction capabilities of the tractor in each range were evaluated. In addition, an analysis was made of the influence of the design parameter of the planetary gears of the «ZK» mechanism on the operational characteristics of the machine. Depending on the design parameter, the required torques and rotational speeds of the traction electric motor rotors were obtained to ensure a given driving mode in a turn, and the time to complete a full rotation of the machine around the center of mass and the stopped side in the «transport» and «technological» transmission ranges was determined. In conclusion, an assessment was made of the influence of tractor transmission parameters on the maximum speed of maneuvers, which made it possible to determine the required power of electric machines taking into account the comfortable work of the driver-operator.
The main problem of design on-board stand-alone moving control system is necessity of prototype object during all design stages. The real-time simulation models of wheel vehicle dynamics help to cope with such difficulties. These models must be similar to real wheel vehicle object sufficiently. The research describes the order of creation real-time simulation models of wheel vehicle dynamics using implicit numerical implementation method with application of higher order derivatives for solving differential equations system. Also the verification and proof of adequacy method is presented. It is noticed that the created real-time model corresponds to physical wheel vehicle object if the solving step of numerical implementation method no more than 0.001 second. Such real-time models can be used for design on-board stand-alone moving control systems.
Îäíèì èç ñåðüåçíûõ íåäîñòàòêîâ ýëåêòðîìåõàíè÷åñêèõ òðàíñìèññèé, ñäåðaeèâàþùèé èõ øèðîêîå ïðèìåíåíèå íà ãóñåíè÷íûõ ìàøèíàõ, ÿâëÿåòñÿ áîëüøîé âåñ ýëåêòðîäâèãàòåëåé è íàêîïèòåëåé ýíåðãèè.  ñòàòüå ïðèâîäèòñÿ ñõåìà òðåõïîòî÷íîé òðàíñìèññèè ñ ìèíèìàëüíûì êîëè÷åñòâîì ýëåêòðîìàøèí, íåîáõîäèìûì äëÿ îáåñïå÷åíèÿ áåññòóïåí÷àòîãî ðàçãîíà è ïîâîðîòà è ñ îáÿçàòåëüíûì ïðèìåíåíèåì äâèãàòåëÿ âíóòðåííåãî ñãîðàíèÿ è ýëåêòðè÷åñêîãî íàêîïèòåëÿ. Óìåíüøåíèå ÷èñëà ýëåêòðîìàøèí äîñòèãàåòñÿ çà ñ÷åò èñïîëüçîâàíèÿ îäíèõ è òåõ aeå ìàøèí â êà÷åñòâå òÿãîâûõ ýëåêòðîäâèãàòåëåé è ãåíåðàòîðîâ â çàâèñèìîñòè îò ðåaeèìà ðàáîòû. Ïðè ýòîì ïîäðàçóìåâàåòñÿ, ÷òî ïðè äâèaeåíèè ñî ñêîðîñòÿìè íèaeå ñðåäíåé, ýëåêòðîìàøèíû äîëaeíû ðàáîòàòü â êà÷åñòâå ãåíåðàòîðà, âûøå ñðåäíåé-â êà÷åñòâå òÿãîâîãî ýëåêòðîäâèãàòåëÿ. Òðàíñìèññèÿ ïîçâîëÿåò äâèaeåíèå áåç èñïîëüçîâàíèÿ ýëåêòðè÷åñêèõ ìàøèí, íî ñ ïîíèaeåííûìè ýêñïëóàòàöèîííûìè êà÷åñòâàìè.  ñòàòüå ðàññìîòðåíû ïÿòü ðåaeèìîâ ðàáîòû òðàíñìèññèè, îïðåäåëåíû óäåëüíûå òÿãîâûå è ìîùíîñòíûå õàðàêòåðèñòèêè äëÿ ýòèõ ðåaeèìîâ. Ó÷òåíû îñîáåííîñòè èñïîëüçîâàíèÿ êðàòêîâðåìåííûõ è äëèòåëüíûõ õàðàêòåðèñòèê ýëåêòðè÷åñêèõ ìàøèí â äâèãàòåëüíîì ðåaeèìå. Îáîñíîâàíî ïðèìåíåíèå äâèãàòåëÿ âíóòðåííåãî ñãîðàíèÿ íå òîëüêî â íîìèíàëüíîì ðåaeèìå, íî è â ðåaeèìå ìàêñèìàëüíîé ìîùíîñòè. Ïðèâåäåíà è îáîñíîâàíà ìåòîäèêà âûáîðà ïåðåäàòî÷íûõ ÷èñåë òðàíñìèññèè, õàðàêòåðèñòèê äâèãàòåëÿ âíóòðåííåãî ñãîðàíèÿ è ýëåêòðè÷åñêèõ ìàøèí. Âûïîëíåí ðàñ÷åò äëÿ ãóñåíè÷íîãî òðàíñïîðòåðà ñâåðõëåãêîé ìàññîâîé êàòåãîðèè. Ïðèâåäåíî îïèñàíèå ðåaeèìîâ ðåêóïåðàòèâíîãî òîðìîaeåíèÿ äîñòóïíûõ òðàíñìèññèé, à òàêaeå îïèñàíèå ðåaeèìà çàðÿäêè íàêîïèòåëÿ ïðè ñòîÿíêå. Îáîçíà÷åíû íàó÷íûå ïðîáëåìû îöåíêè ýôôåêòèâíîñòè òðàíñìèññèè, íåîáõîäèìîñòè èññëåäîâàíèÿ ïîâîðîòà ãóñåíè÷íîé ìàøèíû, â êîòîðóþ îíà óñòàíîâëåíà, ðàçðàáîòêè àëãîðèòìîâ âåðõíåãî óðîâíÿ äëÿ åå óïðàâëåíèÿ.
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