Study On Steering System Of All Terrain Articulated Tracked Vehicle

Ordinary transport equipment or mobile platform are always invalidate due to the complexity of terrain in China.As a result,in special terrains,such as the alpine snow area,human transport and animal transport are the only accessible way for supply provision and thus the development of local economic is limited.Besides,if these areas are suffering from natural disasters,airdrop is a costly and ineffective way of rescuing and post-disaster reconstruction.In order to find a way out of these difficulties,the research on an ineffective transportation attracts more attentions these years.Over all researches,all terrain articulated tracked vehicle stands out for its adaptability of complex and varied terrain and it can be used in future battlefields and post-disaster reconstruction.Again because of the complex and varied terrain it may be face with,steering performance is one of the most important indicators to measure the dynamic performance of vehicle driving.Considering the great influence of the articulated hydraulic steering system on the performance,it is taken as the research object in the paper,and the effect of the hydraulic system is analyzed on the basis of theoretical analysis.Firstly,the kinematic model of the vehicle is built and the influence of the track slip on the steering process is studied.And as a result,the theoretical steering radius and the force/torque between the vehicle and the ground during the steering process are obtained.Then,a co-simulation system is established,which is consists of two subsystems,the virtual prototype of all terrain articulated tracked vehicle and articulated mechanical hydraulic servo system.The former system is built based on the RecurDyn software together with its children module,the RecurDyn / Track(HM)toolkit and the latter system is established with AMESim.Finally,with the co-simulation system built,the control characteristics of the mechanical servo system are studied,and the simulation of the steering performance is carried out under various working conditions.The results of the co-simulation show that the virtual prototype model and the hydraulic system model of the all-terrain articulated tracked vehicle are reasonable,and the vehicle can steer under different working conditions.In the current mechanical hydraulic servo system,the steering performance well,and the maximum steering angle of the all-terrain vehicle reaches 16.5°.In the whole process,the steering wheel angle and the actual steering angle of the vehicle are linearly,though the steering angle still needs an improvement.The model and analysis in this paper lies a foundation for the future development and researches,which saves the research period and contributes a lot to the practical application.