Tracked vehicle steering slip rate and slip rate monitoring system and application method thereof

Abstract

The invention discloses a tracked vehicle steering slip rate and slip rate monitoring system and an application method thereof. The monitoring system comprises a data acquisition I/O board card; an industrial personal computer which communicates with the data acquisition I/O board card and is used for data acquisition and instruction output; two encoders which communicate with a left crawler belt, ta right crawler belt and the data acquisition I/O board card respectively and are used for acquiring rotating speed information of the left crawler belt and the right crawler belt; a GPS receiverwhich communicates with the industrial personal computer and is used for acquiring positioning information and advancing speed information of a vehicle; and a power supply which supplies power toa monitoring system. Monitoring and detection of the tracked vehicle steering system are achieved, the slip rate of the low-speed side of a track and the slip rate of the high-speed side of the track during vehicle steering are accurately analyzed and calculated, and the accuracy of the traveling track of the tracked vehicle is improved.

Description

technical field [0001] The invention belongs to the technical field of intelligent control of a double-crawler traveling device, and in particular relates to a steering slip rate monitoring system of a tracked vehicle and a method for using the system. Background technique [0002] When a tracked vehicle is running in soft soil, the track slips, the low-speed side slips, and the high-speed side slips. Slip and slip cause the actual speed between the track and the ground to be different from the winding speed of the track, and the actual steering radius and actual steering angular velocity are different from the theoretical steering angular velocity and theoretical turning radius. Slip rate and slip rate are indicators to quantify the amount of slip and slip, but there is no online monitoring method for slip rate and slip rate at present. [0003] The Chinese patent with the application number CN201410134095.6 discloses an adaptive steering system for a dual crawler walking ...

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Problems solved by technology

[0004] Although the above-mentioned prior art proposes a dual-crawler traveling device adaptive steering system and its implementation method for the slipping and slipping phenomena that occur when the dual-crawler traveling device turns in the prior art, it does not address the slippage of the crawler. Quantitative analysis of slip rate and slip rate cannot be carried out real-time monitoring of slip rate and slip rate, and the specific values ​​of slip rate and slip rate are not involved in the control method, so the accuracy of the control method is limited

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