Abstract
Double-motor drive tracked vehicles (2MDTV) are widely used in the tracked vehicle industry due to the development of electric vehicle drive systems. The aim of this paper is to solve the problem of insufficient propulsion motor torque in low-speed, small-radius steering and insufficient power in high-speed large-radius steering. In order to do this a new type of steering system with a coupling device is designed and a closed-loop control strategy based on speed is adopted to improve the lateral stability of the vehicle. The work done entails modeling and simulating the 2MDTV and the proposed control strategy in RecurDyn and Matlab/Simulink. The simulation results show that the 2MDTV with the coupling device outputs more torque and power in both steering cases compared to the 2MDTV without the coupling device, and the steering stability of the vehicle is improved by using the strategy based on speed.
Highlights
The addition of a track to a vehicle improves the vehicle’s traction on soft surfaces, tracks are found on a variety of vehicles such as bulldozers, excavators, tanks, tractors and any vehicle whose application would benefit from the increased traction
On running the simulation in RecurDyn and Matlab/Simulink, the results show the yaw rate for vehicles with the coupling device increases to the ideal value rapidly and the vehicle achieves better trajectory following
We found that the torque and power required by the propulsion motor are quite
Summary
The addition of a track to a vehicle improves the vehicle’s traction on soft surfaces, tracks are found on a variety of vehicles such as bulldozers, excavators, tanks, tractors and any vehicle whose application would benefit from the increased traction. In order to solve the above problems of the dual-motor independent drive tracked vehicle, it is necessary to design a power coupling steering device. An electro-mechanical drive system with a horizontal axis steering structure is proposed to solve the problem of needing to use large electric motors whose power requirements are far beyond those of the pure drive power [16]. These needs lots of idle gears and this increases the size of the assembly. On running the simulation in RecurDyn and Matlab/Simulink, the results show the yaw rate for vehicles with the coupling device increases to the ideal value rapidly and the vehicle achieves better trajectory following
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