Control and measuring modernization systems of the “Soil Channel” stand and the development of a wheel motion mathematical model in stand conditions

Abstract

Introduction (problem statement and relevance). A promising direction for reducing a vehicle moving energy is the application of adaptive laws for controlling the power supplied to the propeller based on neural networks. To create a training array of the latter, a large set of experimental data is required, the collection of which, as a rule, is carried out by using research stands, such as the “Soil Channel”. But the fi eld studies require a lot of resources.The purpose of the study was to create a wheel rolling mathematical model in the conditions of the stand, with the help of which it would be possible to organize the collection of needed statistical data on the wheel rolling modes by calculation them in an automatic mode.Methodology and research methods. The paper describes the “Soil Channel” bench test, held by the Department of “Multipurpose tracked vehicles and mobile robots” of Bauman Moscow State Technical University. A list of the control and measuring systems components used in the process of its modernization in order to automate the collection of experimental data was considered. The “Soil Channel” stand mathematical model was presented which was based on the use of experimentally obtained dependences of the specifi c longitudinal thrust force on sliding and the specifi c longitudinal thrust force on the specifi c circumferential force.Scientifi c novelty and results. The developed mathematical model has been verifi ed on the basis of the data obtained in the course of fi eld studies. Conclusions were made about the suitability of the developed mathematical model of wheel motion under the stand conditions for conducting virtual experiments.Practical signifi cance. The data obtained by applying the developed mathematical model can be used to create a training array of a neural network to provide the implementation of adaptive laws for controlling the power supplied to the propeller.