Articulated Tracked Vehicle Steering Control on Slippery Surfaces
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Solution Overview
Problem
Articulated tracked vehicles experience difficulty in maintaining stability, particularly on slippery surfaces, leading to risks of skidding and slipping, which can result in accidents.
Innovation Solution
A control device and method that control the steering arrangement of articulated tracked vehicles to manage mutual steering movement between vehicle units, incorporating features like steering cylinders, brake, locking, and damping functions, and integrating with power provision, braking, and transmission systems to enhance dynamic stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the operator manually controls the steering wheel to change the angle between front and rear vehicle units, then the vehicle can be steered, but the risk of skidding and slipping increases substantially on slippery surfaces
Solution Approach 1:
The control device automatically controls the steering arrangement based on vehicle operating conditions without requiring continuous manual intervention. The system monitors parameters such as wheel slip, terrain conditions, and vehicle dynamics, then autonomously adjusts the steering angle to maintain stability and prevent skidding on slippery surfaces.
Solution Approach 2:
The control device continuously monitors vehicle operating conditions including wheel slip, terrain conditions, and steering angle, then uses this feedback to dynamically adjust the steering arrangement. This closed-loop control system detects instability conditions and automatically corrects steering to prevent skidding and maintain vehicle stability.
2Adaptability or versatility
If the steering arrangement allows free mutual pivoting of vehicle units, then maneuverability is improved, but dynamic stability control deteriorates on slippery surfaces
Solution Approach 1:
The control device dynamically adjusts the steering arrangement based on real-time vehicle operating conditions. The system modifies steering characteristics adaptively, allowing free pivoting when conditions permit for maneuverability, while automatically restraining excessive steering movements when slippery surfaces are detected to maintain dynamic stability.
Solution Approach 2:
The control device changes steering parameters such as steering ratio, steering speed, and maximum steering angle based on detected terrain conditions and vehicle dynamics. On slippery surfaces, the system modifies these parameters to reduce steering aggressiveness and maintain stability, while allowing more aggressive steering when conditions permit.
Data Source
AI summary
The present invention relates to a method (M1) performed by a control device (100) for controlling driving operation of an articulated tracked vehicle (V). Said articulated tracked vehicle (V) comprises a drive arrangement (120) for operating the vehicle. The articulated tracked vehicle (V) comprises a first vehicle unit (V1) and a second vehicle unit (V2) steerably connected to the first vehicle unit (V1) by means of a steering device (D) for mutually pivoting said vehicle units (V1, V2). The mutual pivoting comprises steering movement about a steering axis (Y). The steering device (D) comprises a steering arrangement (A1) for said steering movement. The method comprises the step of controlling (S1) the steering arrangement (A1) of the steering device (D) so as to control mutual steering movement of said vehicle units (V1, V2) for dynamic stability control. The present invention also relates to a control device for controlling driving operation of an articulated tracked vehicle. The present invention also relates to a computer program and a computer readable medium.