Lateral dynamics of single unit skid-steered tracked vehicle |
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Authors: | B Janarthanan C Padmanabhan C Sujatha |
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Institution: | 1.Department of Mechanical Engineering,Indian Institute of Technology Madras,Chennai,India |
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Abstract: | In the design and development of high-speed tracked vehicles, it is necessary to have an understanding of the interrelationship
between the terrain factors and the vehicle characteristics during steering. The handling behavior of skid-steered tracked
vehicles is more complex than that of wheeled vehicles because of non-linear characteristics arising from the sliding interface
between the track and the ground. In the present work, a five degree-of-freedom (DOF) steering model of a tracked vehicle
is developed, and the handling behavior during non-stationary motion is studied when operating at high and low speeds. It
is demonstrated that the inclusion of roll and pitch DOF changes the steering response when compared to the response from
three DOF models proposed earlier by several researchers. This is due to the strong coupling between the pitch and yaw motions.
The effect of the initial forward velocities on the trajectory of the vehicle during non-stationary motion is also studied.
It is observed from the results that the stability is influenced by the type of steering input, steering ratio and vehicle
forward speed. |
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Keywords: | |
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