A tracked vehicle motion control system and method with adaptive tension adjustment

Abstract

The present invention relates to the technical field of track motion control, and discloses a track vehicle motion control system and method with adaptive tension adjustment. The control system includes driving wheels, tracks, vehicle body side panels, a track tensioning mechanism, a belt support assembly, and a suspension assembly. Driving wheels are disposed on the vehicle body side panels relative to each other, and a belt support assembly and a suspension assembly are disposed between the two driving wheels. The surface envelope of the driving wheels, belt support assembly, and suspension assembly is provided with a track. The belt support assembly supports the track, and the suspension assembly reduces external impact vibration on the track. The vehicle body side panels are also provided with a track tensioning mechanism acting on the track, and the track tensioning mechanism adaptively adjusts the track tension. The present invention can achieve real-time control of the track tension according to the driving conditions and status of the track vehicle, that is, real-time adjustment of the track tightness, and thus the track tension. The overall structure is simple, the function is reliable, and it is easy to implement.

Description

Technical Field

[0001] The present invention relates to the technical field of track motion control, and more particularly to a track vehicle motion control system and method with adaptive tensioning force adjustment. Background Art

[0002] Multi-drive electric tracked vehicles have many advantages over two-wheel drive tracked vehicles, such as improved passability, gradeability, and steering ability. However, they also have significant disadvantages, such as a complex track tensioning mechanism and the inability to adjust track tension in real time. Track tension is the primary factor affecting track reliability. Maintaining the stability of track tension helps extend the service life of the track while enabling the vehicle to perform superiorly in off-road conditions. However, the track tensioning method of multi-drive tracked vehicles cannot be adjusted by the tensioning mechanism pushing the inducer wheel like the traditional method. Summary of the Invention

[0003] The purpose of the present invention is to address the technical problems existing in the prior art and provide a track vehicle motion control system and method with adaptive tension adjustment, which can solve the complex problems of the tensioning mechanism of multi-active wheel electric drive track vehicles and adjust the track tension in real time on the basis of reducing the energy consumption of the control system.

[0004] In order to solve the above problems, the technical solution adopted by the present invention is:

[0005] The present invention provides a track vehicle motion control system with adaptive tensioning force adjustment, comprising a driving wheel, a track, a vehicle body side plate, a track tensioning mechanism, a belt support assembly and a suspension assembly;

[0006] Driving wheels are arranged opposite to each other on the side panels of the vehicle body, and a belt support assembly and a suspension assembly are respectively arranged between the two driving wheels. A track is provided on the surface envelope of the driving wheels, the belt support assembly and the suspension assembly; the belt support assembly is used to support the track, and the suspension assembly is used to reduce external impact vibration on the track; a track tensioning mechanism acting on the track is also provided on the side panels of the vehicle body, and the track tensioning mechanism performs adaptive adjustment on the tensioning force of the track.

[0007] Furthermore, the suspension assembly includes a road wheel, a shock absorber bracket and a gas spring. The gas spring is arranged on the side panel of the vehicle body and connected to one end of the shock absorber bracket. The other end of the shock absorber bracket is movably provided with a road wheel, and the road wheel acts on the track.

[0008] Furthermore, the track tensioning mechanism includes a hydraulic cylinder, a hydraulic tensioning rod, a disc spring, a tensioning wheel arm, a tensioning wheel and a tensioning hydraulic assembly. The side wall of the hydraulic cylinder is rotatably connected to the side panel of the vehicle body and is connected to the tensioning hydraulic assembly through an oil circuit; a hydraulic tensioning rod is arranged in the hydraulic cylinder, and a disc spring is arranged to act on the hydraulic tensioning rod; one end of the tensioning wheel arm is rotatably connected to the force output end of the hydraulic tensioning rod, the middle part is rotatably connected to the tensioning wheel acting on the track, and the other end is rotatably connected to the side panel of the vehicle body.

[0009] Furthermore, the tensioning hydraulic assembly includes a controller, a first solenoid reversing valve, a second solenoid reversing valve, a one-way valve, an oil pump, an oil tank and a one-way throttle valve, wherein the first solenoid reversing valve is a three-position four-way U-type valve, and the second solenoid reversing valve is a three-position four-way M-type valve;

[0010] The two ends of the one-way throttle valve are respectively connected to the rod chamber of the hydraulic cylinder and the working oil port B of the first electromagnetic reversing valve, and the working oil port A of the first electromagnetic reversing valve is connected to the rodless chamber of the hydraulic cylinder; the first electromagnetic reversing valve and the second electromagnetic reversing valve are connected and are respectively electrically connected to the controller; the controller is also connected to the hydraulic cylinder;

[0011] The oil inlet P of the second electromagnetic reversing valve is connected to a one-way valve and a controller; the one-way valve is connected to an oil pump and then to an oil tank; the oil outlet T of the second electromagnetic reversing valve is also connected to the oil tank.

[0012] Furthermore, the tensioning hydraulic assembly also includes an overflow valve and a filter. An overflow valve connected in parallel with the oil pump is provided between the one-way valve and the oil tank, and a filter is also provided between the oil pump and the oil tank.

[0013] Furthermore, an accumulator is provided between the oil inlet P of the second electromagnetic reversing valve and the one-way valve to maintain the pressure of the tensioning hydraulic assembly.

[0014] Furthermore, the suspension assembly is provided in five groups at equal intervals between the two driving wheels and acts on the crawler tracks respectively.

[0015] Furthermore, the oil-gas spring and the vibration-damping bracket are coaxially arranged, and the angle between them and the vertical direction is 30°.

[0016] Furthermore, the belt support assembly includes a belt support roller, and is located on both sides of the two driving wheel axes together with the suspension assembly; the belt support rollers are arranged on both sides of the tensioning wheel at equal intervals.

[0017] The present invention also provides a method for controlling the movement of a tracked vehicle with adaptive tension adjustment, the specific steps of the method comprising the following steps:

[0018] Step S1: The tracked vehicle is traveling, and it is determined whether it is in a normal driving condition. If so, step S2 is executed; otherwise, step S3 is executed;

[0019] Step S2: The oil pump supplies oil, the first solenoid reversing valve and the second solenoid reversing valve are both in the neutral position, the disc spring drives the hydraulic tensioning rod to extend and retract, and the tensioning wheel acts on the crawler to achieve passive tensioning, and then executes step S6;

[0020] Step S3: The oil pump works, the hydraulic oil in the hydraulic cylinder drives the hydraulic tensioning rod to extend and retract, and the controller monitors the pressure value of the rodless chamber in the hydraulic cylinder in real time;

[0021] Step S4: Compare the monitored pressure value with the set value to determine whether it reaches the set value. If not, execute step S5; otherwise, execute step S6;

[0022] Step S5: The controller sends corresponding control signals to the first solenoid reversing valve and the second solenoid reversing valve according to the monitored pressure value, adjusts the pressure value of the rodless chamber in the hydraulic cylinder, and the hydraulic tensioning rod drives the tensioning wheel arm to move. The tensioning wheel actively tensions the crawler track, and the process returns to step S4;

[0023] Step S6: Determine whether the vehicle is in emergency braking. If not, adjust the track tension in real time and return to step S5. If yes, proceed to the next step.

[0024] Step S7: The oil pump starts working, the second electromagnetic reversing valve is adjusted to the middle position, the first electromagnetic reversing valve is adjusted to the left position, the hydraulic cylinder is locked, and the tensioning pulley is fixed.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) The present invention drives the tracked vehicle by arranging driving wheels on the side panels of the vehicle body, and respectively arranging belt support assemblies and suspension assemblies to support the track. The track tensioning mechanism can realize real-time control of the track tensioning force according to the driving conditions and status of the tracked vehicle, that is, the tightness of the track can be adjusted in real time, and then the tensioning force of the track can be adjusted. The overall structure is simple, the function is reliable and easy to implement, and the energy consumption of the control system is also reduced.

[0027] (2) The suspension assembly of the present invention cooperates with the track through the road wheels, and the road wheels are connected through the vibration-damping bracket and the oil-gas spring, which can support the side panels of the vehicle body. The structure is simple and reliable and can buffer and attenuate the impact vibration from the ground to the track.

[0028] (3) The track tensioning mechanism of the present invention is connected to the tensioning hydraulic assembly through a hydraulic cylinder and acts on the hydraulic tensioning rod through a disc spring. The tensioning wheel arm is connected to the tensioning wheel and cooperates with the track. The track tensioning force is adjusted by changing the position of the tensioning wheel. The tensioning hydraulic assembly can also realize active and passive tensioning modes of the track, which is reliable and convenient.

[0029] (4) The tensioning hydraulic assembly of the present invention adopts a first electromagnetic reversing valve and a second electromagnetic reversing valve that are connected. The phase of the electromagnetic reversing valve is controlled by a controller, and the hydraulic oil in the hydraulic cylinder is adjusted to push the hydraulic tensioning rod to move, thereby realizing active tensioning of the track. The tensioning hydraulic assembly provides track tensioning power only when the track is actively tensioned, thereby reducing the energy consumption of the track vehicle system and increasing the operating stability of the track vehicle.

[0030] (5) The track support assembly of the present invention uses a track support wheel to support the crawler, reducing the vibration of the upper branch section of the crawler. It has a simple structure and can further improve the stability of the crawler.

[0031] (6) The control method of the present invention first determines whether the track is in passive tensioning mode or active tensioning mode. In the passive tensioning mode, the hydraulic cylinder does not work, and only the disc spring drives the hydraulic tensioning rod to move. In the active tensioning mode, the hydraulic cylinder works, and the controller adjusts the phase of the two electromagnetic reversing valves to adjust the pressure value of the hydraulic chamber, drive the change in the position of the tensioning wheel, and then adjust the track tensioning force. The entire control method is simple and easy to implement, which improves the stability of vehicle operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] To more clearly illustrate the solutions of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort. Among them:

[0033] Figure 1 Schematic diagram of the tracked vehicle motion control system with adaptive tension adjustment according to the present invention.

[0034] Figure 2 This is a schematic diagram of the composition of the crawler track tensioning mechanism of the present invention.

[0035] Figure 3 Schematic diagram of the interior of the hydraulic cylinder in the present invention.

[0036] Figure 4 This is a schematic diagram of the composition of the tensioning hydraulic assembly in the present invention.

[0037] Figure 5 This is a flow chart of the tracked vehicle motion control method with adaptive tension adjustment according to the present invention.

[0038] The description of the accompanying numbers is as follows: 1-driving wheel, 2-track roller, 3-hydraulic cylinder, 4-tensioning wheel, 5-road wheel, 6-shock absorber bracket, 7-oil and gas spring, 8-tensioning wheel arm, 9-track, 10-vehicle side panel, 11-hydraulic tensioning rod, 12-disc spring, 13-controller, 14-first electromagnetic reversing valve, 15-second electromagnetic reversing valve, 16-accumulator, 17-one-way valve, 18-overflow valve, 19-oil pump, 20-filter, 21-oil tank, 22-one-way throttle valve, 30-track tensioning mechanism, 40-track support assembly, 50-suspension assembly. DETAILED DESCRIPTION

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which the present invention pertains; the terms used in the specification herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention; for example, the directions or positions indicated by the terms "length", "width", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are for ease of description only and should not be construed as limiting the present technical solution.

[0040] The terms "including" and "having," as well as any variations thereof, in the specification and claims of the present invention and the accompanying drawings are intended to cover non-exclusive inclusions; the terms "first," "second," and the like in the specification and claims of the present invention and the accompanying drawings are used to distinguish between different objects, rather than to describe a specific order. In the specification and claims of the present invention and the accompanying drawings, when an element is referred to as being "fixed to," "mounted on," "disposed on," or "connected to" another element, it may be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it may be directly or indirectly connected to the other element.

[0041] Furthermore, references herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0042] See Figure 1 As shown, the present invention provides a track vehicle motion control system with adaptive tension adjustment, comprising a driving wheel 1, a track 9, a vehicle body side plate 10, a track tensioning mechanism 30, a belt support assembly 40 and a suspension assembly 50;

[0043] The driving wheels 1 are arranged opposite to each other on the vehicle body side panels 10, and a belt support assembly 40 and a suspension assembly 50 are respectively arranged between the two driving wheels 1. The belt support assembly 40 and the suspension assembly 50 are located on both sides of the axis of the two driving wheels 1; the surface envelope of the driving wheels 1, the belt support assembly 40 and the suspension assembly 50 is provided with a track 9, the belt support assembly 40 is used to support the track 9, and the suspension assembly 50 is used to reduce external impact vibration on the track 9; a track tensioning mechanism 30 acting on the track 9 is also provided on the vehicle body side panels 10.

[0044] Specifically, two sets of relatively distributed driving wheels 1 are respectively provided on both sides of the vehicle body side panel 10. The tracked vehicle motion control system adopts a four-wheel drive mode, and the four driving wheels 1 provide driving power, that is, a driving wheel 1 is installed on the front main shaft and the rear main shaft on each side of the vehicle body side panel 1. The four-wheel drive mode can provide stronger driving power than the two-wheel drive mode, and also has stronger driving stability in more complex driving conditions.

[0045] Furthermore, a corresponding deceleration and torque-increasing mechanism is provided on the driving wheel 1. The deceleration and torque-increasing mechanism is driven by a high-power motor and is connected to the control system in the tracked vehicle via a CAN bus. The high-power motor can perform real-time torque compensation for the driving torque required by the driving wheel 1 according to the received control instructions under different working conditions, thereby keeping the two motors on the same side at the same speed.

[0046] Furthermore, the suspension assembly 50 includes a road wheel 5, a shock-absorbing bracket 6, and a gas spring 7. The gas spring 7 is provided on the vehicle body side panel 10 and connected to one end of the shock-absorbing bracket 6. The other end of the shock-absorbing bracket 6 is movably provided with a road wheel 5, which acts on the track 9.

[0047] Furthermore, the suspension assembly 50 is arranged in five groups at equal intervals between the two driving wheels 1 and acts on the crawler 9 respectively.

[0048] Furthermore, in order to achieve the best vibration reduction effect of the tracked vehicle, the oil and gas spring 7 and the vibration reduction bracket 6 are coaxially arranged and form a certain angle with the vertical direction, preferably 30°.

[0049] For further information, see Figure 2 and Figure 3As shown, the track tensioning mechanism 30 includes a hydraulic cylinder 3, a hydraulic tensioning rod 11, a disc spring 12, a tensioning wheel arm 8, a tensioning wheel 4, and a tensioning hydraulic assembly. The sidewall of the hydraulic cylinder 3 is rotatably connected to the vehicle body side panel 10, providing a basis for the positional movement of the tensioning wheel 4 and connected to the tensioning hydraulic assembly via an oil circuit. A hydraulic tensioning rod 11 is disposed within the hydraulic cylinder 3, and a disc spring 12 is provided to act on the hydraulic tensioning rod 11. The upper end of the tensioning wheel arm 8 is rotatably connected to the force output end of the hydraulic tensioning rod 11, the middle portion is rotatably connected to the tensioning wheel 4, and the lower end is rotatably connected to the vehicle body side panel 10. The tensioning wheel 4 acts on the track 9, pressing downward to tension the track 9.

[0050] Furthermore, the belt support assembly 40 includes two support rollers 2, which are located on both sides of the track tensioning mechanism 30. Specifically, the two support rollers 2 are located on both sides of the tensioning wheel 4 at equal intervals.

[0051] Specifically, the outer surfaces of the driving wheel 1, the track roller 2 and the road wheel 5 are enclosed by the crawler 9 and together constitute the walking mechanism of the crawler motion system. The track supporting assembly 40 supports the upper branch section of the crawler 9 ( Figure 1 ), reducing the vibration of the upper branch section of the crawler 9, thereby improving the stability of the crawler 9. The number of the suspension assembly 50 and the track roller 2 can be increased or decreased according to actual needs.

[0052] See Figure 4 As shown, the tensioning hydraulic assembly includes a controller 13, a first solenoid reversing valve 14, a second solenoid reversing valve 15, a one-way valve 17, an oil pump 19, an oil tank 21 and a one-way throttle valve 22, wherein the first solenoid reversing valve 14 is a three-position four-way U-type valve, and the second solenoid reversing valve 15 is a three-position four-way M-type valve.

[0053] A one-way throttle valve 22 is installed in the low-pressure oil circuit of the hydraulic cylinder 3. Its two ends are connected to the rod chamber of the hydraulic cylinder 3 and the working oil port B of the first solenoid reversing valve 14. The working oil port A of the first solenoid reversing valve 14 is connected to the rodless chamber of the hydraulic cylinder 3. The first and second solenoid reversing valves 14 and 15 are connected and electrically connected to the controller 13. The oil inlet P and oil outlet T of the first solenoid reversing valve 14 are connected to the working oil ports A and B of the second solenoid reversing valve 15, respectively. The controller 13 is also connected to the oil inlet P of the hydraulic cylinder 3 and the second solenoid reversing valve 15.

[0054] The oil inlet P of the second solenoid reversing valve 15 is connected to a one-way valve 17 and to the controller 13, and the oil circuit is controlled by the one-way valve 17. The one-way valve 17 is connected to the oil pump 19 and then to the oil tank 21. The oil outlet T of the second solenoid reversing valve 15 is also connected to the oil tank 21.

[0055] Specifically, the controller 13 is used to receive external feedback signals such as pressure sensors, vehicle status, road surface information, etc., and calculate and send corresponding control signals to the first solenoid reversing valve 14 and the second solenoid reversing valve 15 through the controller 13, thereby controlling the active and passive tensioning of the tensioning hydraulic assembly.

[0056] Furthermore, the tensioning hydraulic assembly also includes a relief valve 18 and a filter 20 . A relief valve 18 connected in parallel with an oil pump 19 is provided between the one-way valve 17 and the oil tank 21 . A filter 20 is also provided between the oil pump 19 and the oil tank 21 .

[0057] Specifically, the overflow valve 18 is used to perform overflow in the active tensioning mode, and cooperates with the one-way throttle valve 22 to adjust the flow of the balanced hydraulic system and also plays a safety protection role. The filter 20 is used to filter impurities in the hydraulic system.

[0058] Furthermore, an accumulator 16 is provided between the oil inlet P of the second electromagnetic reversing valve 15 and the one-way valve 17. The accumulator 16 is used to maintain the pressure of the tensioning hydraulic assembly in the active tensioning mode, has a pressure-maintaining effect, and can also absorb hydraulic system shocks, providing a hydraulic buffering effect.

[0059] See Figure 5 As shown, the present invention also provides a method for controlling the movement of a tracked vehicle with adaptive tension adjustment, the specific steps of the method include the following:

[0060] Step S1: The tracked vehicle is traveling, and it is determined whether it is in a normal driving condition. If so, it indicates that the track 9 is in a passive tensioning mode, and step S2 is executed; otherwise, the track 9 is in an active tensioning mode, and step S3 is executed;

[0061] Step S2: Under normal driving conditions, the oil pump 19 is in the oil supply state, the first electromagnetic reversing valve 14 is in the middle position, the second electromagnetic reversing valve 15 is in the middle position, the disc spring 12 drives the hydraulic tensioning rod 11 to extend and retract, and acts on the track 9 through the tensioning wheel 4 to achieve passive tensioning, and then executes step S6;

[0062] Specifically, under normal operating conditions, the hydraulic oil flows through the one-way throttle valve 22 as the hydraulic tensioning rod 11 expands and contracts, providing only one-way damping. The disc spring 12 is an elastic element that acts as a passive tensioner. At this time, the disc spring 12 pushes the hydraulic tensioning rod 11, causing it to extend and provide tension to the track 9 through the tensioning wheel 4. When the external pressure is too high, the hydraulic tensioning rod 11 is compressed and retracted into the hydraulic cylinder 3, and the hydraulic oil flows from the hydraulic chamber a to the hydraulic chamber b through the one-way throttle valve 22. Figure 3 ), while the one-way throttle valve 22 can provide damping to suppress the vibration of the crawler track 9.

[0063] Step S3: When the vehicle is turning, slowing down, or passing through a soft road, the track 9 is in active tensioning mode, the oil pump 19 is in operation, the hydraulic cylinder 3 is working, that is, the hydraulic oil drives the hydraulic tensioning rod 11 to extend and retract, and the controller 13 monitors the pressure value of the hydraulic chamber a, i.e., the rodless chamber, in real time through the pressure sensor in the hydraulic cylinder 3;

[0064] Step S4: Compare the monitored pressure value with the set value to determine whether it reaches the set value. If not, execute step S5; otherwise, execute step S6;

[0065] Specifically, the corresponding track tension is adjusted by judging the body state of the tracked vehicle and the road surface on which it is traveling, and the pressure setting value is stabilized in real time according to the monitored pressure value.

[0066] Step S5: The controller 13 sends corresponding control signals to the first electromagnetic reversing valve 14 and the second electromagnetic reversing valve 15 according to the monitored pressure value, adjusts the pressure value of the hydraulic chamber a in the hydraulic cylinder 3, and the hydraulic tensioning rod drives the tensioning wheel arm 8 to move, thereby actively tensioning the track 9 through the tensioning wheel 4, and returns to step S4.

[0067] Specifically, when the first electromagnetic reversing valve 14 is in Figure 4 In the left position in the direction shown in the figure, the second electromagnetic reversing valve 15 is in the right position, the pressure in the hydraulic chamber a increases, and the tensioning force increases; when the first electromagnetic reversing valve 14 and the second electromagnetic reversing valve 15 are in the right position, the pressure in the hydraulic chamber a decreases, and the tensioning force decreases. By controlling the phases of the first electromagnetic reversing valve 14 and the second electromagnetic reversing valve 15, the pressure in the hydraulic chamber a is stabilized at the set value.

[0068] Step S6: Determine whether the vehicle is in emergency braking. If not, adjust the tension of the crawler 9 in real time and return to step S5; if yes, proceed to the next step;

[0069] Specifically, the two tensioning modes can be switched by the controller 13 to ensure that the appropriate track tensioning mode is selected under different working conditions, so as to achieve the purpose of adaptive adjustment of the track tensioning force and energy saving.

[0070] Step S7: The oil pump 19 is in working state, the second electromagnetic reversing valve 15 is adjusted to the middle position, and then the first electromagnetic reversing valve 14 is adjusted to the left position. At this time, the hydraulic cylinder 3 is locked to prevent the tensioning wheel 4 from oscillating to maintain braking stability.

[0071] In this embodiment, the track tensioning mechanism 30 adaptively adjusts track tension in two modes: passive and active tensioning. These modes can be switched freely based on the road conditions of the tracked vehicle. In passive tensioning mode, the disc spring 12 is primarily responsible for controlling the track tension, saving energy. In active tensioning mode, the hydraulic tensioning assembly is primarily responsible for maintaining a constant level of tension under adverse conditions. Both modes adjust track tension by pushing or retracting the hydraulic tensioning rod 11, thereby changing the position of the tensioning wheel 4. When the tracked vehicle brakes, the hydraulic cylinder 3 is locked, securing the tensioning wheel 4 and preventing significant fluctuations in track tension.

[0072] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A tracked vehicle motion control system with adaptive tension adjustment, characterized by: It includes driving wheels, crawler tracks, vehicle body side panels, crawler track tensioning mechanism, belt support assembly and suspension assembly; Driving wheels are arranged opposite to each other on the side panels of the vehicle body, and a belt support assembly and a suspension assembly are respectively arranged between the two driving wheels. A crawler track is provided on the surface envelope of the driving wheels, the belt support assembly and the suspension assembly; the belt support assembly is used to support the crawler track, and the suspension assembly is used to reduce external impact vibration on the crawler track; a crawler track tensioning mechanism acting on the crawler track is also provided on the side panels of the vehicle body, and the crawler track tensioning mechanism performs adaptive adjustment on the tensioning force of the crawler track; The track tensioning mechanism includes a hydraulic cylinder, a hydraulic tensioning rod, a disc spring, a tensioning wheel arm, a tensioning wheel and a tensioning hydraulic assembly. The side wall of the hydraulic cylinder is rotatably connected to the vehicle body side plate and is connected to the tensioning hydraulic assembly through an oil circuit. A hydraulic tensioning rod is provided in the hydraulic cylinder, and a disc spring is provided to act on the hydraulic tensioning rod. One end of the tensioning wheel arm is rotatably connected to the force output end of the hydraulic tensioning rod, the middle part is rotatably connected to the tensioning wheel acting on the track, and the other end is rotatably connected to the vehicle body side plate. The specific steps of the method for controlling the movement of a tracked vehicle based on the adaptive adjustment of the tensioning force include the following: Step S1: The tracked vehicle is traveling, and it is determined whether it is in a normal driving condition. If so, step S2 is executed; otherwise, step S3 is executed; Step S2: The oil pump supplies oil, the first solenoid reversing valve and the second solenoid reversing valve are both in the neutral position, the disc spring drives the hydraulic tensioning rod to extend and retract, and the tensioning wheel acts on the crawler to achieve passive tensioning, and then executes step S6; Step S3: The oil pump works, the hydraulic oil in the hydraulic cylinder drives the hydraulic tensioning rod to extend and retract, and the controller monitors the pressure value of the rodless chamber in the hydraulic cylinder in real time; Step S4: Compare the monitored pressure value with the set value to determine whether it reaches the set value. If not, execute step S5; otherwise, execute step S6; Step S5: The controller sends corresponding control signals to the first solenoid reversing valve and the second solenoid reversing valve according to the monitored pressure value, adjusts the pressure value of the rodless chamber in the hydraulic cylinder, and the hydraulic tensioning rod drives the tensioning wheel arm to move. The tensioning wheel actively tensions the crawler track, and the process returns to step S4; Step S6: Determine whether the vehicle is in emergency braking. If not, adjust the track tension in real time and return to step S5. If yes, proceed to the next step. Step S7: The oil pump starts working, the second electromagnetic reversing valve is adjusted to the middle position, the first electromagnetic reversing valve is adjusted to the left position, the hydraulic cylinder is locked, and the tensioning pulley is fixed.

2. The tracked vehicle motion control system with adaptive tension adjustment according to claim 1, characterized in that: The suspension assembly includes a road wheel, a shock-absorbing bracket and an oil-gas spring. The oil-gas spring is arranged on the side panel of the vehicle body and connected to one end of the shock-absorbing bracket. The other end of the shock-absorbing bracket is movably provided with a road wheel, and the road wheel acts on the track.

3. The tracked vehicle motion control system with adaptive tension adjustment according to claim 1, characterized in that: The tensioning hydraulic assembly includes a controller, a first solenoid reversing valve, a second solenoid reversing valve, a one-way valve, an oil pump, an oil tank and a one-way throttle valve, wherein the first solenoid reversing valve is a three-position four-way U-type valve, and the second solenoid reversing valve is a three-position four-way M-type valve; The two ends of the one-way throttle valve are respectively connected to the rod chamber of the hydraulic cylinder and the working oil port B of the first electromagnetic reversing valve, and the working oil port A of the first electromagnetic reversing valve is connected to the rodless chamber of the hydraulic cylinder; the first electromagnetic reversing valve and the second electromagnetic reversing valve are connected and are respectively electrically connected to the controller; the controller is also connected to the hydraulic cylinder; The oil inlet P of the second electromagnetic reversing valve is connected to a one-way valve and a controller; the one-way valve is connected to an oil pump and then to an oil tank; the oil outlet T of the second electromagnetic reversing valve is also connected to the oil tank.

4. The tracked vehicle motion control system with adaptive tension adjustment according to claim 3, characterized in that: The tensioning hydraulic assembly further includes an overflow valve and a filter. An overflow valve connected in parallel with an oil pump is provided between the one-way valve and the oil tank. A filter is also provided between the oil pump and the oil tank.

5. The tracked vehicle motion control system with adaptive tension adjustment according to claim 3 or 4, characterized in that: An accumulator is further provided between the oil inlet P of the second electromagnetic reversing valve and the one-way valve for maintaining the pressure of the tensioning hydraulic assembly.

6. The tracked vehicle motion control system with adaptive tension adjustment according to claim 1, characterized in that: The suspension components are arranged in five groups with equal intervals between the two driving wheels and act on the crawlers respectively.

7. The tracked vehicle motion control system with adaptive tension adjustment according to claim 2, characterized in that: The oil-gas spring and the vibration-damping bracket are coaxially arranged, and the angle between them and the vertical direction is 30 degrees.

8. The tracked vehicle motion control system with adaptive tension adjustment according to claim 1, characterized in that: The belt support assembly includes a belt support wheel, and is located on both sides of the two driving wheel axes together with the suspension assembly; the belt support wheels are arranged on both sides of the tensioning wheel at equal intervals.

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