Combined Control System of Wheeled and Caterpillar Vehicle's Movement

Abstract

The urgency of the task of improving the control of the movement of wheeled vehicles is the distribution of torque between the driving wheels under varying driving conditions, in particular, the bearing capacity of the supporting soil and its resistance to movement. To realize the idea of the optimal distribution of the moment between wheels, an automatic system is necessary, including measuring and operating devices that work together in a particular algorithm. This article is devoted to the search for this algorithm. Similar problems are also faced by the control systems for the curvilinear motion of the caterpillar, the rotation of which is effected by a mismatch between the rotation frequencies of the leading asterisks (driving wheels) along the bore. The change in the properties of the ground during the rotation leads to a spontaneous change in the trajectory of the motion, up to skidding. The article presents a mathematical model of caterpillar motion, its implementation in the Vissim programming environment, specifies the parameters of the combined automatic control system for the hydraulic swing mechanism, shows the advantage of the combined control system in comparison with the control for the deviation and the perturbation. It is implemented in the Vissim application package a combined system for controlling the curvilinear motion of a high-speed tracked vehicle with a compensation channel over perturbation. The introduction of a compensating element made it possible to compensate for the frequency deviation of rotation of the drive sprocket from the desired value due to a change of soil. The necessity of forming a compensation channel, the input signal of which is not the perturbation itself, but the value that indirectly characterizes the perturbation – the change in the time of the frequency of rotation of the driving wheels. The transfer function of the compensation channel in the form of local feedback where – a model of the circuit section covered by the local feedback, followed by a decrease in order. Simulation modeling of the control system of the frequency of injection of the leading asterisk high-speed tracked vehicles showed: the introduction of the compensating element in the form of a local feedback provides an improvement in the quality of the transition process arising as a result of changing the soil, and as a result of entering the machine into rotation. The obtained results can be used to determine the parameters of the transfer functions of an automatic control system for the movement of a wheeled vehicle while driving on various soils.