The method of controlling the rotation of the caterpillar articulated machine

 

(57) Abstract:

The invention relates to a method of control of moving objects. The method of controlling the rotation of the caterpillar articulated machine lies in the fact that we create and put to the front in the direction of the section turning moment due to a change in speed of one of the caterpillars of this section and rotate the front section in the direction of rotation to match the new direction of movement of the machine with the set. In the process of turning advanced in its plane by means of a power hydraulic cylinders create and add to each section torques, so that the direction of the first section coincided with the specified direction of rotation, and on the back it would be the opposite. While in the process of turning the tilt of the sections to each other in the longitudinal plane perpendicular to the plane of rotation increases inversely proportional to the turning radius. The technical result is a significant improvement maneuverable properties of tracked vehicles, cross-country and temporal characteristics when making turns difficult areas increase by 10-12%.

The invention relates to a method of control of moving the s turning of tracked vehicles provides their agility, which is a combination of qualities that define the maneuverability of the machine, the sustainability of its movement on the course and the ability to jump from moving forward to moving back and Vice versa (see, for example, A. P. Stepanov “Floating cars”, M., Chamberlain, 1975. S. 77-98). Under the maneuverability of the machine understand its ability to change direction and move in a predetermined path with different radii of curvature, and resilience - the ability of the machine to withstand the specified direction of rectilinear motion. The maneuverability and stability on the course combined the General concept of controllability, by which is meant the totality of qualities, providing, first, easy and fast change of direction and, secondly, almost steady movement on the course.

Requirements stability on the course, as a rule, are in some conflict with the requirements of poweracoustik, as with good stability on the course it is difficult to change the direction of its movement. Conversely, if the machine has good maneuverability, it is worse withstand the specified direction of rectilinear motion. Therefore, in practice, the creation of tracked vehicles try to find a t is the s operation.

For tracked vehicles owing to their destination and traffic conditions in crowded traffic conditions, on rough terrain with natural and artificial obstacles the most important quality is their ability to quickly and easily change the direction of motion.

A known method of controlling the turning of tracked vehicles (see, for example, “Object A. Technical description and operating instructions. The second book. M, Voenizdat, 1985, S. 592-610), which consists in creating a deviation of the longitudinal axis of the machine by creating a moment of rotation about her body through the formation of the velocity difference of caterpillars. Turning control is performed using a control lever when moving one of which reduces the speed of the wind a certain caterpillars and the machine is rotated in the direction of movement of the lever (towards performatively caterpillars). If the lever is moved fully (until it stops), the machine turns cool (with a small turning radius). When partial move and install the lever in any intermediate position, the steepness of the rotation is reduced. The less moved the control lever, the greater the turning radius.

The rotation occurs with slip disks Tr when the pressure in the booster frictions corresponding transmission zero, lagging caterpillar is disconnected from the engine and the car turns with a free radius. The value of this radius depends on the speed of movement of the machine, its weight, design features, road conditions, etc. So there is uncertainty, complicating management.

Most sharp turn from a fully stopped lagging caterpillar can be obtained only in first gear (modern machines) and the reverse gear, which requires repeated shifting (from highest to lowest) associated with the loss of speed and time.

For the successful implementation of the rotation this way, you need to observe a number of rules and restrictions:

the levers should move smoothly, without jerks, avoiding unnecessary bends that requires a certain skill of the driver;

to rotate, you must choose a smooth areas and to avoid turns the machine on steep climbs, descents and slopes, which limits her ability to maneuver;

it is not recommended to sharply turn the machine when moving through the swamp, ice, sand, loose soil and deep snow, as well as overcoming water obstacles. Under these conditions, powerassist their execution, what is especially significant for military tracked vehicles.

It is known that the moment of resistance to rotation is directly dependent on the length of the reference branch of the tracked contour. The longer it is, the greater the moment of resistance to rotation. And its specific values of the rotation becomes impossible (see, for example, C. F. Platonov, A. F. Belousov and other “Crawler-transporters-tractors”. M., “engineering”, 1978, S. 62-74). This limits the base and is one of the reasons run tracked vehicle or trailer or articulated.

Known way to control the rotation of the caterpillar articulated machine, taken as a prototype of the proposed and consists in the fact that we create and put to the front in the direction of the section turning moment due to a change in speed of one of the caterpillars of this section and rotate the front section in the direction of rotation to match the new direction of movement of the machine with the specified (see ibid., S. 65-72).

Such performance is tracked vehicles (articulated, with a trailer) has significantly increased its overall length (which increased its layout capabilities) at a relatively acceptable to increase the moment of resistance to rotation (due to resciniti and Hughes lagging (especially if the caterpillars of the rear section does not have a power drive). Thus, the smaller the turning radius and heavier traffic conditions, the more SW and slipping.

The aim of the present invention is to eliminate said drawbacks and to increase the manageability of this class of machines.

This goal is achieved by the fact that in the process of turning advanced in its plane by means of a power cylinder create and add to each section torques, so that the direction of the first section coincided with the specified direction of rotation, and on the back it would be the opposite. While in the process of turning the tilt of the sections to each other in the longitudinal plane perpendicular to the plane of rotation increases inversely proportional to the turning radius.

The introduction of new essential features provides a better control of tracked vehicles by increasing their poweracoustik and sustainability in the process.

Implementation of the proposed method is as follows. When the movement of tracked vehicles on flat terrain or on roads where you can move with high velocities and large radius turns, the turn control the production is about in practice, operation, does not cause tension among staff, does not lead to the deterioration of the coupling properties of caterpillar tracks.

When the movement of a caterpillar on this steep terrain, bumpy road, weak soils, performing the rotation, first create and put to the front in the direction of the section turning moment due to a change in speed of one of the caterpillars of this section (by reducing the speed of movement of the caterpillars by rotation) to match the new direction of movement of the machine with the set. In this case, if the resistance of the soil in the process of turning sharply increases, the in-plane rotation by hydraulic cylinders create and add to each section torques, so that their direction in the first section coincided with the specified direction of rotation, and on the back it would be the opposite. In addition, in the longitudinal plane perpendicular to the plane of rotation, increase the inclination of the sections to each other inversely as the radius of turn.

The creation of additional turning points relative to the front and rear sections by means of power cylinders, increasing the resultant moment, it does not change the ratio of Skaro virtually no effect on coupling conditions, what contributes to maintaining stability when turning. Another feature of the influence of additional moments, namely, that on the front section they coincide with the direction of rotation, and on the back - no, leads to the fact that the direction of deflection of the first section coincides with the direction of rotation, and the second is the opposite. That is, both sections of the longitudinal axis of the machine are deflected in opposite directions, which speeds up the production process of rotation and reduces its radius. The increase in the inclination of the sections to each other in this case, further reducing the turning radius of a caterpillar, and simultaneously reduces the resistance to rotation from the soil by reducing support surface caterpillars.

To increase the likelihood of overcoming difficult terrain, it is recommended to minimize maneuvering (see, for example, C. F. Platonov, A. F. Belousov and other “Crawler-transporters-tractors”. M., “engineering”, 1978, S. 62-74), as maneuvering in heavy soils leads to the loss of tracked machines because of the increased resistance to movement at the turn. In the General case, waterlogged and impassable areas are recommended to be overcome pony is Noah the engine speed and wind belts caterpillars in order not to disrupt the surface layer of the soil (cover swamps, meadows) caterpillars under the action of dynamic loads. In these cases, using the proposed method of control, maneuvering can be done without changing the constancy of the speed of caterpillars, by applying to both sections of the machine only moments generated by hydraulic power cylinders.

Application of the proposed method of control the rotation of the tracked vehicle can significantly improve and extend its maneuvering capabilities by increasing its poweracoustik and sustainability.

It will also limit the turning of time without deterioration of adhesion caterpillars with the ground and allows rotation of a caterpillar without the participation of the track Assembly and drive it.

Preliminary calculations show that the temporal characteristics and mobility of tracked vehicles using the proposed method increase by 10-12%.

The method of controlling the rotation of the caterpillar articulated machines, namely, that create and put to the front in the direction of the section turning moment due to a change in speed of one of the caterpillars ay specified, characterized in that in the process of turning advanced in its plane by means of a power hydraulic cylinders create and add to each section torques, so that the direction of the first section coincided with the specified direction of rotation, while the rear would be the opposite, while in the process of turning the tilt of the sections to each other in the longitudinal plane perpendicular to the plane of rotation increases inversely proportional to the turning radius.

 

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FIELD: transport engineering; steering systems.

SUBSTANCE: proposed control system contains steering hydraulic booster pump set into operation by engine which, in its turn, sets into action steering hydraulic motor. Steering hydraulic booster pump responds to steering control signals characterizing state of steering wheel operated by driver. Steering hydraulic motor provides input action onto track differential drive mechanism which responds to manipulation with steering wheel and sets into action left-hand and right-hand tracks to execute turning. Invention provides system which reveals some failures in steering system and exceeding of value corresponding to steering control signal by output flow of steering hydraulic booster pump.

EFFECT: improved reliability of steering.

6 cl, 5 dwg

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