Steering Performance Of Tracked Vehicle Based On Mechanical Differential Steering Mechanism With Twin Driving

The steering mechanism is one of the most important parts of the track vehicle,and its performance has a direct effect on the steering of the tracks and the mobility of the vehicle,the dynamic,the stability,and the efficiency of the work.In this paper,the differential steering mechanism with twin driving is studied by theoretical analysis,simulation calculation and experimental research,and the steering performance and steering mechanism parameter matching of caterpillar vehicles are studied.This paper summarizes the development status and trend of steering system of tracked vehicles.Taking tracked vehicle with double power differential steering mechanism as an example.The traditional differential steering mechanism with twin driving can only realize a limited number of steering radius and often requires the sliding grinding of brake and other components.A new type of differential steering mechanism with twin driving with continuous steering radius and avoiding wear is designed.Established differential steering mechanism of the two motor shaft(input)the rotational speed with two shaft(output)of kinematics model,according to two shaft speed and the relationship between the tracked vehicles steering radius,get the two motor shaft of the tracked vehicles kinematics model of(input)speed and the steering radius.the kinetic model of two motor shafrs(input)speed and steering resistance moment of the mobile robot was established.The steady steering model of tracked vehicle considering width,skids and slips is established.At the same time,it can provide theoretical basis for the selection of drive system parameters and the optimization of track vehicle parameters;the influencing factors of steering radius and steering speed are derived.The theoretical analysis of the differential steering mechanism and the simulation and test of three working conditions show that the maximum error value of the theoretical calculation value and simulation calculation result of the virtual prototype is 0.15%;the experimental value of the differential steering mechanism and the motion simulation result.The relative error is at most 0.81%;the small tracked vehicle can achieve an arbitrary continuous turning radius,thus verifying the correctness of the theoretical model.The research results can provide theoretical basis for the steering control of the tracked vehicles and the structural optimization of the differential steering mechanism.Taking the small tracked vehicle equipped with dual power differential steering mechanism as the research object,considering the performance of the tracked vehicle is affected by the battery pack,combined with the driving dynamics of the track,the dynamic matching model of the tracked vehicle is established,and the drive system is determined.According to the power performance requirements of the tracked vehicle,the objective function of the motor drive system and eight constraints are determined;the genetic algorithm is used to determine the range of parameter matching parameters of the reasonable tracked vehicle motor drive system.Finally,a reasonable powertrain parameter matching scheme for the tracked vehicle was determined.Compared to the pre-optimized design,the total mass of the tracked-vehicle was reduced by 12 and the battery life was increased by 67.8%.It is verified that the genetic optimization algorithm can effectively match the parameters of the tracked vehicle power system.The steering performance of a small tracked vehicle equipped with dual power flow differential steering mechanism is simulated.The comparison results show that the actual steering result obtained by virtual prototype simulation is close to the theoretical calculation value,thus verifying the correctness of the theoretical model.At the same time,the tracked vehicle was tested in three working conditions.The test results show that the tracked vehicle works well and can meet the requirements of use.