STEERING ANALYSIS OF TRACKED VEHICLES

 BASED ON SKID CONDITION

CHENG Junwei  GAO Lianhua  WANG Hongyan

(Department of Mechanical Engineering, Armored Force Institute of Engineering, Beijing 100072)

Abstract: Slips and skids of tracks contacting ground aren’t considered for traditional steering theory of tracked vehicles, so gaps exist between the calculated and actual values. Based on mutual effects of tracks and ground, the actual steering processes of tracked vehicles are analyzed considering tracks’ slip and skid. Then the formulas of tracks propelling power, broken power, turning resistance moment, turning radius and turning angle velocity are obtained. The stimulated results are gotten with iteratively programming, and some quantitative comparisons with traditional conclusions are given. On-vehicle measurement is carried out. The results show that relative turn radius considering slip and skid is one and a half time of it without considering skid and slip, that is equal to the ratio of track contact ground length L to track gauge B, turn angle velocity is two thirds of it without considering skid and slip. Comparison with measurement, the error of turn radius and turn angle velocity is limited to three percent. So, steering model considering skid and slip corresponds with actual steering character.

Key words: Tracked vehicle Steady steering Skid and slip Comparison and analysis

CLC No: TJ811.2

Received 20051027, received in revised form 20060115