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

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.