The concept of the controlled movement of the tracked vehicle

This article is devoted to solving the actual problem - to define the concept of controlled movement of tracked vehicles. Uncertainty in the concept of controlled movement does not allow to solve practical problems related to the controllability of tracked vehicles. In the publication, controlled motion is considered as a transition from one steady state to another. Just a study of the steady-state motion regime will make it possible to determine the patterns between the force and kinematic parameters of controlled curvilinear motion and controlled parameters of a tracked vehicle. It is determined that controlled movement is such a movement in which the driver, acting on the controls, can change the mode of movement of the tracked vehicle in the right direction at the given time. If the movement of the tracked vehicle is carried out independently of the control actions of the driver or the reaction of the machine to the control action is uncertain, then such movement is uncontrollable. The analysis of transients from the rectilinear movement of the tracked vehicle to the curvilinear one is presented. It is shown that with curvilinear motion, the centrifugal force is balanced by the transverse reaction of the soil due to the displacement of the projection of the instantaneous center of rotation onto the longitudinal axis of the machine. The physical meaning of this bias is determined. During controlled curvilinear movement the center of mass of the tracked vehicle moves tangentially to the trajectory of movement, and the longitudinal axis will rotate around the center of mass by an additional angle relative to the tangent to the trajectory of movement in the direction of the instantaneous center of rotation. The indicator identifies a controlled, limitedly controlled and uncontrolled movement - the displacement of the instantaneous center of rotation on the longitudinal axis of the tracked vehicle to the level and beyond the front border of the supporting surfaces of the tracks. Thus, the conducted studies of the controlled curvilinear movement of tracked vehicles allow us to define the controllability and to identify the following types of movement: guaranteed controlled, limited controlled and uncontrolled movement.

controlled motion, tracked vehicle, longitudinal projection of the instantaneous center of rotation