Stabilization of transport tracked vehicle trajectory

Abstract

The article presents the research findings of the controlled motion dynamics of tracked vehicles equipped with a steering system with discrete properties. It is established that the potential high-speed performance is limited by motion instability and by dynamic properties i.e. the phase lag of the vehicle response to the harmonic control input and the “engine overshoot” to a unit step function (steering jerk). Technical proposals allowing for the high-speed performance of the vehicle are substantiated, such as yaw moment control, which ensures the positive-difference of the partial differential coefficients of yaw moment and cornering resistance moment with respect to curvature; increase of the dynamic system stiffness for increasing the natural frequency and decreasing energy when exciting oscillatory processes; implementation of Shaper steering brake control algorithms.