Study on electromechanical performance of steering of the electric articulated tracked vehicles

Wu, Jiang; Wang, Guoqiang; Zhao, Huanyu; Sun, Kangkang

doi:10.1007/s12206-019-0612-7

Cited by 11 publications

(5 citation statements)

References 28 publications

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“…One PID logic is designed to elaborate a steering torque , named "Torque-Based Logic" (TBL), and the second PID calculates a hydraulic command valve , named as "Speed-Based Logic" (SBL). In the first case, the hydraulic steering dynamics is excluded by considering an ideal actuator that directly provides the desired steering torque, as assumed for the ATV linearized model and in [22], where an electric motor is directly mounted on the steering joint. For the SBL, the steering torque applied to the ATV depends on the pressure dynamics within the hydraulic circuit of the steering system.…”

Section: Controller Designmentioning

confidence: 99%

Analytical Study on the Cornering Behavior of an Articulated Tracked Vehicle

2021

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Articulated tracked vehicles have been traditionally studied and appreciated for the extreme maneuverability and mobility flexibility in terms of grade and side slope capabilities. The articulation joint represents an attractive and advantageous solution, if compared to the traditional skid steering operation, by avoiding any trust adjustment between the outside and inside tracks. This paper focuses on the analysis and control of an articulated tracked vehicle characterized by two units connected through a mechanical multiaxial joint that is hydraulically actuated to allow the articulated steering operation. A realistic eight degrees of freedom mathematical model is introduced to include the main nonlinearities involved in the articulated steering behavior. A linearized vehicle model is further proposed to analytically characterize the cornering steady-state and transient behaviors for small lateral accelerations. Finally, a hitch angle controller is designed by proposing a torque-based and a speed-based Proportional Integral Derivative (PID) logics. The controller is also verified by simulating maneuvers typically adopted for handling analysis.

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Section: Controller Designmentioning

confidence: 99%

Analytical Study on the Cornering Behavior of an Articulated Tracked Vehicle

2021

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“…The development and modernization of the undercarriage are implemented due to extensive theoretical and experimental research: clarification of the interaction of the propulsor with the supporting surface, the choice of optimal modes of operation of the undercarriage, the improvement of calculation and design methods, the use of new technological and design methods [1][2][3][4][5][6][7][8][9][10][11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Estimated assessment of the power and geometric parameters of the caterpillar mover

Bazhukov,

Hoodorozhkov,

Karnaukhov

et al. 2024

E3S Web Conf.

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The article proposes a method for calculating the tension forces in the free and working branches of the bypass, taking into account the deformation of the caterpillar and suspension hinges. Calculation schemes for determining the parameters of the running gear are given. The dependence of the geometry of the caterpillar bypass on these forces is determined, the feature of which is taking into account the change in the position of the machine body in height and angle of inclination, as well as the preload of the road wheels.

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“…Ding, Z., et al proposed a new method that can accurately test the slip coefficient of tracked vehicles under different ground conditions to reduce the influence of the slip coefficient of tracked vehicles on the steering process [13]. Wu, J.Q., et al established a model that can reverse-calculate the current and voltage signals of tracked ATVs in a specific trajectory, so as to provide a theoretical basis for the trajectory control of tracked articulated vehicles [14].…”

Section: Introductionmentioning

confidence: 99%

Simulation and Validation of a Steering Control Strategy for Tracked Robots

Wang,

Zhang,

et al. 2023

Applied Sciences

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Tracked inspection robots have demonstrated their versatility in a wide range of applications. However, challenges arising from issues such as skidding and slipping have posed obstacles to achieving precise and efficient trajectory control. This paper introduces a method to determine the steering parameters of robot based on the surrounding obstacles and road information. The primary objective is to enhance the steering efficiency of tracked robots. The corresponding relationship between the track speed, driving force and track steering radius of the tracked robot is obtained. Considering the influence of track skid and slip, relationship models about the steering radius and traveling speed of the robot are established. The minimum and maximum steering radii in the obstacle avoidance process are analyzed, and a mathematical model of the relationship between the steering angle of the robot and the distance between the side obstacles is established. The trajectory deviation model of the tracked robot is established, and a principle analysis of the LiDAR ranging is completed. This lays the foundation for a steering measurement and control system for tracked robots. ADAMS(2020) software is used to establish the multi-body dynamics model of the tracked robot, and three different obstacle-avoiding steering control strategies are designed for the robot in a simulated environment with space obstacles. The simulation experiment demonstrates that the robot achieves more efficient obstacle avoidance steering through the use of differential steering, leading to a decrease in both track skid and slip rates. Through the simulation experiment, it can be seen that the robot uses differential steering to complete the obstacle avoidance steering movement more efficiently, and the track skid and slip rates are smaller. The simulation results are used to complete the steering control experiment of the tracked robot on different road surfaces. The results show that by adjusting the track driving parameters, the robot can effectively complete the obstacle-avoiding steering movement by using the differential steering control strategy, which verifies the accuracy of the steering control strategy.

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Study on electromechanical performance of steering of the electric articulated tracked vehicles

Cited by 11 publications

References 28 publications

Analytical Study on the Cornering Behavior of an Articulated Tracked Vehicle

Analytical Study on the Cornering Behavior of an Articulated Tracked Vehicle

Estimated assessment of the power and geometric parameters of the caterpillar mover

Simulation and Validation of a Steering Control Strategy for Tracked Robots

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