Моделирование положения гусеничных шасси в движении при отклонении механических характеристик электродвигателей раздельного привода гусеничных контуров

Abstract

Deviation of the mechanical characteristics of electric motors from the nominal values during their simultaneous operation in the structure of multi-motor drives can destabilize the accuracy of predicting the behavior of the entire mechanical system. The use of electric motors in the structure of a separate drive of the tracked chassis circuits with a random combination of deviations of their sliding can both enhance the factors contributing to the relative run-up of the circuits and compensate for them depending on the function of the change in the motion resistance coefficient over time. This article provides a description of the process and results of modeling the position of the tracked chassis in motion when the mechanical characteristics of the electric motors of the separate drive of the tracked circuits deviate. The proposed mathematical model, on the one hand, takes into account the possibility of changing the coefficient of resistance to movement over time, and on the other hand, it operates with a variable approach to determining the speed of movement of tracked circuits based on a system of sliding deviations of electric motors. Taking into account the results obtained, recommendations were proposed for the selection of electric motors for the circuits of tracked chassis.