The Virtual Prototype Model Simulation on the Steady-state Machine Performance

Articulated tracked vehicles have high mobility and steering performance. The unique structure of articulated tracked vehicles can avoid the subsidence of tracks caused by high traction from instantaneous braking and steering. In order to improve the accuracy of the steady-state steering of the articulated tracked vehicle, the velocity of both sides of the track and the deflection angle of the articulated point need to match better to achieve the purpose of steering accurately and reduce energy consumption and wear of components. In this study, a virtual prototype model of the articulated tracked vehicle is established based on the multi-body dynamic software RecurDyn. The trend of the driving torque and power of each track changes as the velocity difference of two sidesof the tracks and the traveling trajectory of the mass center of the front vehicle change in a specific condition are obtained by the experiment. The experimental results are compared and verified with the results obtained from the virtual prototype simulation. The change law of driving power in the steadystate steering process on the horizontal firm ground as changing the velocity difference of two sides of the tracks, the theoretical steering radius, and the ground friction is obtained by the virtual prototype model simulation analysis. The steering inaccuracy and track slip rate are used as indexes in evaluating the steady-state steering performance of the articulated tracked vehicle. The research provides references for the study of steady-state steering performance of articulated tracked vehicles.