Open AccessIncreasing the mobility of tracked vehicles during curvilineer motion with partial skidding
Author(s) -
M. V Vyaznikov,
A. M. Vyaznikov
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/971/5/052080
Subject(s) - traction (geology) , curvilinear coordinates , controllability , coulomb friction , motion (physics) , control theory (sociology) , mechanics , computer science , classical mechanics , engineering , physics , mechanical engineering , mathematics , geometry , artificial intelligence , control (management) , nonlinear system , quantum mechanics
A method for determining the forces and moment of resistance for curvilinear motion of a tracked vehicle on deformable soil is presented. It is assumed that in the patch of contact with the ground, the track performs both rotational and translational motion. Under these conditions, the real law of friction has a fundamental difference from the classical Coulomb’s law. To describe this process, a friction model based on the first-order Pade expansion is proposed, generalized to a flat rectangular contact pattern of the tracked mover with the ground. The determining factor in this process is sliding of the tracked mover relative to the ground. It limits the realizable traction force and the boundary conditions for the adhesion of the tracks to the ground in the contact pattern. The interpretation of these physical processes occurring in the contact pattern, based on the theory of combined friction, makes it possible to use this mathematical model in the structure of the algorithm of an automatic motion control system to solve the problem of controllability in case of partial side skid, which will further increase mobility and maneuverability of tracked vehicles.