A Modeling, Validation and Handling Performance Analysis of Skid Steered Vehicle

doi:10.11908/j.issn.0253-374x.2017.04.014

Home > Archive>Volume 45, Issue 04, 2017 >0562-0568. DOI:10.11908/j.issn.0253-374x.2017.04.014

A Modeling, Validation and Handling Performance Analysis of Skid Steered Vehicle
DOI:
                        10.11908/j.issn.0253-374x.2017.04.014
                    
CSTR:
                        [cstr]
                    
Author:
                        HU JibinHU Jibin
School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China
Find this author on All Journals
Find this author on BaiDu
Search for this author on this site
FU MiaomiaoFU Miaomiao
School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China
Find this author on All Journals
Find this author on BaiDu
Search for this author on this site

                    
Affiliation:
Clc Number:U461.1
Fund Project:

Article

Figures

Metrics

Reference [21]

Related [20]

Cited by

Materials

Comments

Abstract:

The handling performance of a 8×8 skid steered all terrain vehicle equipped with doublestream hydromechanical transmission(HMT) was studied. A 2 DOF dynamic model was proposed and verified by simulation and experiment. The result shows that there are great differences between the steady state performance of skid steered vehicle and Ackermann steered vehicle. The skid steered vehicle has a better transient handling performance because of the special steering mode. Moreover, the transit performance of the skid steered vehicle is better than that of the Ackermann steered vehicle. Furthermore, because of larger side slip angle during a turning, tyres of skid steering vehicle are more easily worn out.

Key words:skid steering; vehicle dynamic model; experiment validation; handling performance

Reference

[1] Suresh Golconda. Steering control for a Skid-Steered Autonomous Ground Vehicle at varying speed[D]. America: University of Louisiana,2005.

[2] Bruce Maclaurin. Comparing the steering performance of skid and Ackermann steered vehicles[J]. Part: Automobile Engineering, 2008, 222(5):739-756

[3] 李雪原，张宇，胡纪滨，等.基于单轴模型的轮式速差转向车辆的转向动力学分析[J].汽车工程，2012,34（2）：159-163

Li Xue-yuan, Zhang Yu, Hu Ji-bin, et al. A steering dynamics analysis for skid-steering wheeled vehicle based on single-axle model[J]. Vehicle Engineering, 2012,34（2）：159-163

[4] Hrbacek, J.; Ripel, T.; Krejsa, J. Ackermann mobile robot chassis with independent rear wheel drives[C]//New York: IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA,2010:46-51.

[5] 陈劲. 轮式车辆差速转向分析及应用[J].四川兵工学报，2008,29（6）：149-152.

Chen Jin. Analysis and utilities of skid-steering wheeled vehicle[J]. Journal of Sichuan Ordnance, 2008,29（6）：149-152.

[6] K. Arnaudov,D. Karaivanov. Higher Compound Planetary Gear Trains. VDI-Berichte 2004: 327-344.

[7] （德）米奇克（Mitschke,M.）,（德）瓦伦托维兹（Wallentowitz,H.）著；陈荫三，余强译.汽车动力学第四版[M].北京：清华大学出版社，2009.6-13,473-584.

M.Mitschke and H.Wallentowitz. Vehicle Dynamic. 4th ed. Beijing: Qinghua University Publish; 2009.

[8] 余志生.汽车理论[M]. 北京：机械工业出版社，2009

Yu Zhi-sheng. Vehicle Theory[M]. Beijing: China Machine Press, 2009

[9] J. C. Fauroux. Modeling, experimenting and improving skid steering on a 6×6 all terrain mobile platform. Journal of Field Robotics. 2010; 27(2): 107-126.

[10] W. F. Milliken, D. L. Milliken. Race Car Vehicle Dynamics. SAE: Warren Michigan, 1994.

[11] H. B. Pacejka. Tyre and Vehicle Dynamics. Elsevier Ltd Press, 2006.

[12] 项昌乐，荆崇波，刘辉.液压与液力传动[M].北京：高等教育出版社，2011.

Xiang Chang-le, Jing Chong-bo, Liu Hui. Liquid Press and Fluid Transmission[M]. Beijing: Higher Education Press, 2011.

[13] 李雪原，苑士华，胡纪滨等.多轮驱动车辆速差转向轮胎的切向与侧向联合模型[J]. 北京理工大学学报，2013,33（6）：566-569

Li Xue-yuan, Yuan Shi-hua, Hu Ji-bin et al. Tangential-lateral combination model of tyre for multi-axis drive skid steering vehicle[J]. Transaction of Beijing Institute of Technology, 2013,33（6）：566-569

[14] 刘梦研，李雪原，刘大勇等. 轮式速差转向车辆轮胎力学特性研究[J] . 汽车工程学报，2014,4（2）：86-92

Liu Meng-yan, Li Xue-yuan, Liu Da-yong et al, Study of tire characteristics of skid steering vehicle[J]. Chineses Journal of Automobile Engineering, 2014,4（2）：86-92

Get Citation

HU Jibin, FU Miaomiao. A Modeling, Validation and Handling Performance Analysis of Skid Steered Vehicle[J].同济大学学报(自然科学版),2017,45(04):0562~0568

Copy

Article Metrics

Abstract:
PDF:
HTML:
Cited by:

History

Received:May 30,2016
Revised:January 17,2017
Adopted:December 20,2016
Online: April 28,2017
Published:

Get Citation

Share

Article Metrics

History

Article QR Code