| Issue |
MATEC Web Conf.
Volume 224, 2018
International Conference on Modern Trends in Manufacturing Technologies and Equipment (ICMTMTE 2018)
|
|
|---|---|---|
| Article Number | 02038 | |
| Number of page(s) | 7 | |
| Section | General problems of mechanical engineering: design, optimization, maintenance | |
| DOI | https://doi.org/10.1051/matecconf/201822402038 | |
| Published online | 30 October 2018 | |
Stabilization of transport tracked vehicle trajectory
1
IES UB RAS, Department of Transportation Vehicles Mechanics, 620049, Ekaterinburg, Russia
2
KSU, Kurgan State University, Department of Applied Mechanics, 640020, Kurgan, Russia
* Corresponding author: ig_tar@mail.ru
The article presents the research findings of the controlled motion dynamics of tracked vehicles equipped with a steering system with discrete properties. It is established that the potential high-speed performance is limited by motion instability and by dynamic properties i.e. the phase lag of the vehicle response to the harmonic control input and the “engine overshoot” to a unit step function (steering jerk). Technical proposals allowing for the high-speed performance of the vehicle are substantiated, such as yaw moment control, which ensures the positive-difference of the partial differential coefficients of yaw moment and cornering resistance moment with respect to curvature; increase of the dynamic system stiffness for increasing the natural frequency and decreasing energy when exciting oscillatory processes; implementation of Shaper steering brake control algorithms.
© The Authors, published by EDP Sciences, 2018
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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