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Study on electromechanical performance of steering of the electric articulated tracked vehicles

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Abstract

Articulated tracked vehicles (ATVs) usually use hydraulic drive or mechanical drive modes. Electrically driven tracked vehicles have become a promising development direction for saving energy and meeting the environment requirements. In this study, based on the mechanical motion equation and the dynamic ATV equation, the electromechanical coupling model of the track vehicles is established by coupling the motor equation. The typical mechanical and electrical parameters in the ATV steering process are measured and compared with the numerical results to verify the correctness of the electromechanical coupling model. Experimental results indicate the main mechanical and electrical parameters of the ATV electro-mechanical system are changed at different articulated point deflection angles. The characteristic parameters of ATV include the change in current and voltage, the size of trajectory radius and the change of power under different deflection angles (10°, 15°, 20°, 25° and 30°), all of which are of great significance for the control of ATV. The current and voltage signals of ATV under specific trajectory can be calculated in reverse by the model, thereby providing a theoretical basis for the trajectory control of articulated vehicles. Therefore, this study provides a reference for the theoretical analysis of electromechanical performance, road driving performance and vehicle design of the electric ATV.

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Acknowledgments

The authors acknowledge the National Natural Science Foundation of China “Electromechanical coupling dynamics and adaptive control of multi-crawler travelling gears” (Grant No. 51775225).

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Authors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Jilin University, Changchun, 130025, China

    Jiaqi Wu, Guoqiang Wang & Kangkang Sun

  2. School of Instrumentation & Electrical Engineering, Jilin University, Changchun, 130025, China

    Huanyu Zhao

Authors
  1. Jiaqi Wu
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  2. Guoqiang Wang
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  3. Huanyu Zhao
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  4. Kangkang Sun
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Corresponding author

Correspondence to Kangkang Sun.

Additional information

Recommended by Associate Editor Hyeong-Joon Ahn

Jiaqi Wu received her B.E. and currently studies in School of Mechanical and Aerospace Engineering, Jilin University, Changchun, China. Her research interests include dynamics, mechanical design and optimization.

Kangkang Sun received his B.E. in School of Mechanical Engineering, Shandong Agricultural University and currently studies in School of Mechanical and Aerospace Engineering, Jilin University. His research interests include mechanical design, optimization, algorithms and modeling.

Guoqiang Wang received the Ph.D. degree in agricultural engineering from Jilin University of Technology, Changchun, China, in 1994. He has been a Professor since 1997 in the School of Mechanical Science and Engineering, Jilin University, Changchun, China. His research interests include modern design theories and methods (MDTM), reliability, dynamics, vibration and mechanical failure diagnosis.

Huanyu Zhao received B.E. degree from Jilin University, Changchun, China, in 2009. He received the Ph.D. degree in School of Mechanical and Aerospace Engineering of Jilin University in China. His research interests include the dynamics of tracked vehicle and computer simulation.

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Wu, J., Wang, G., Zhao, H. et al. Study on electromechanical performance of steering of the electric articulated tracked vehicles. J Mech Sci Technol 33, 3171–3185 (2019). https://doi.org/10.1007/s12206-019-0612-7

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  • DOI: https://doi.org/10.1007/s12206-019-0612-7

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